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We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…

We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…

In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…

This research introduces two efficient methods to estimate the collision risk of planned trajectories in autonomous driving under uncertain driving conditions. Deterministic collision checks of planned trajectories are often inaccurate or…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Autonomous highway driving involves high-speed safety risks due to limited reaction time, where rare but dangerous events may lead to severe consequences. This places stringent requirements on trajectory planning in terms of both…

In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

We consider the problem of correct motion planning for T-intersection merge-ins of arbitrary geometry and vehicle density. A merge-in support system has to estimate the chances that a gap between two consecutive vehicles can be taken…

High-performance autonomy often must operate at the boundaries of safety. When external agents are present in a system, the process of ensuring safety without sacrificing performance becomes extremely difficult. In this paper, we present an…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

Planning safe trajectories for autonomous vehicles is essential for operational safety but remains extremely challenging due to the complex interactions among traffic participants. Recent autonomous driving frameworks have focused on…

Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…

This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…

We provide theoretical foundations and computational tools for the systematic design of optimization-based control laws with constraints that have different priorities. By introducing the concept of prioritized intersections, we extend and…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

As mobile robots and autonomous vehicles become increasingly prevalent in human-centred environments, there is a need to control the risk of collision. Perceptual modules, for example machine vision, provide uncertain estimates of object…

Achieving rapid and effective active collision avoidance in dynamic interactive traffic remains a core challenge for autonomous driving. This paper proposes REACT (Runtime-Enabled Active Collision-avoidance Technique), a closed-loop…

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…

Left-turn planning is one of the formidable challenges for autonomous vehicles, especially at unsignalized intersections due to the unknown intentions of oncoming vehicles. This paper addresses the challenge by proposing a critical turning…