Related papers: Real-Time Parallel Trajectory Optimization with Sp…
This paper presents a free space trajectory optimization algorithm of autonomous driving vehicle, which decouples the collision-free trajectory planning problem into a Dual-Loop Iterative Anchoring Path Smoothing (DL-IAPS) and a Piece-wise…
Addressing the Integrated Timetabling and Vehicle Scheduling (TTVS) problem is important for improving transit operations. Recently, the emerging modular autonomous vehicles composed of modular autonomous units have made it possible to…
Urban traffic anomalies, such as collisions and disruptions, threaten the safety, efficiency, and sustainability of transportation systems. In this paper, we present a simulation-based framework for modeling, detecting, and predicting such…
This work presents advancements in multi-class vehicle detection using UAV cameras through the development of spatiotemporal object detection models. The study introduces a Spatio-Temporal Vehicle Detection Dataset (STVD) containing 6, 600…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…
In the Optimal Velocity Model proposed as a new version of Car Following Model, it has been found that a congested flow is generated spontaneously from a homogeneous flow for a certain range of the traffic density. A well-established…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
In this paper, we consider the problem of stochastic optimization, where the objective function is in terms of the expectation of a (possibly non-convex) cost function that is parametrized by a random variable. While the convergence speed…
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the…
As fully-actuated systems, omnidirectional multirotor aerial vehicles (OMAVs) have more flexible maneuverability and advantages in aggressive flight in cluttered environments than traditional underactuated MAVs. %Due to the high…
Spatial synchronization in roadside scenarios is essential for integrating data from multiple sensors at different locations. Current methods using cascading spatial transformation (CST) often lead to cumulative errors in large-scale…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
This paper proposes a coordinated routing approach that investigates the use of connected and automated vehicles (CAVs) in dedicated bus lanes. The aim is to improve bus schedule adherence while enhancing the travel efficiency of CAVs…
Automated vehicles (AVs) are expected to increase traffic safety and traffic efficiency, among others by enabling flexible mobility-on-demand systems. This is particularly important in Singapore, being one of the world's most densely…