Related papers: Real-Time Parallel Trajectory Optimization with Sp…
In this paper, we first propose a spatial-temporal coupled risk assessment paradigm by constructing a three-dimensional spatial-temporal risk field (STRF). Specifically, we introduce spatial-temporal distances to quantify the impact of…
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…
Real-time trajectory optimization for nonlinear constrained autonomous systems is critical and typically performed by CPU-based sequential solvers. Specifically, reliance on global sparse linear algebra or the serial nature of dynamic…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
We propose a two phase time dependent vehicle routing and scheduling optimization model that identifies the safest routes, as a substitute for the classical objectives given in the literature such as shortest distance or travel time,…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning tasks are jointly formulated as a nonlinear programming…
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…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
Motion planning can be cast as a trajectory optimisation problem where a cost is minimised as a function of the trajectory being generated. In complex environments with several obstacles and complicated geometry, this optimisation problem…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Traffic simulators are important tools for tasks such as urban planning and transportation management. Microscopic simulators allow per-vehicle movement simulation, but require longer simulation time. The simulation overhead is exacerbated…
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…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Unmanned Aerial Vehicles (UAVs) are poised to revolutionize communications. Utilizing their flexibility and fast deployment, we can deliver content in congested areas or provide services in areas without infrastructure. In this paper, we…