Related papers: An optimization-free approximation Framework for C…

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…

Drive modes are driver-selectable pre-set configurations of powertrain and certain vehicle parameters. Plug-in hybrid electric vehicles (PHEVs) typically feature special options of drive modes that can affect the hybrid energy source…

Cellular-connected unmanned aerial vehicles (UAVs) are expected to play an increasingly important role in future wireless networks. To facilitate the reliable navigation for cellular-connected UAVs, channel knowledge map (CKM) is considered…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…

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…

A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…

Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…

In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in which the lower-level problem solves for the optimal trajectory…

In the usual framework of control, a reference trajectory is needed as the set point for a feedback controller. This reference trajectory can be generated by solving a trajectory optimization problem. This problem is a continuous optimal…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

Predictive energy management of Connected and Automated Vehicles (CAVs), in particular those with multiple power sources, has the potential to significantly improve energy savings in real-world driving conditions. In particular, the…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

We study the carbon footprint optimization (CFO) of a heavy-duty e-truck traveling from an origin to a destination across a national highway network subject to a hard deadline, by optimizing path planning, speed planning, and intermediary…

Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…

In this paper, an optimization-based framework for generating estimation-aware trajectories is presented. In this setup, measurement (output) uncertainties are state-dependent and set-valued. Enveloping ellipsoids are employed to…

In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…

Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…

High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…

The rapid adoption of electric vehicles (EVs) in modern transport systems has made energy-aware routing a critical task in their successful integration, especially within large-scale transport networks. In cases where an EV's remaining…