Related papers: Decentralized approaches for autonomous vehicles c…
Autonomous driving has entered the testing phase, but due to the limited decision-making capabilities of individual vehicle algorithms, safety and efficiency issues have become more apparent in complex scenarios. With the advancement of…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
Operating large autonomous fleets demands fast, resilient allocation of scarce resources (such as energy and fuel, charger access and maintenance slots, time windows, and communication bandwidth) under uncertainty. We propose a…
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…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
This paper investigates a decentralized optimization methodology to coordinate Electric Vehicles (EV) charging in order to contribute to the voltage control on a residential electrical distribution feeder. This aims to maintain the voltage…
Cooperative automated vehicles exchange information to assist each other in creating a more precise and extended view of their surroundings, with the aim of improving automated-driving decisions. This paper addresses the need for scalable…
The way we communicate with autonomous cars will fundamentally change as soon as manual input is no longer required as back-up for the autonomous system. Maneuver-based driving is a potential way to allow still the user to intervene with…
Earlier work has established a decentralized framework to optimally control Connected Automated Vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling while following a strict First-In-First-Out (FIFO)…
Agreement Technologies refer to a novel paradigm for the construction of distributed intelligent systems, where autonomous software agents negotiate to reach agreements on behalf of their human users. Smart Cities are a key application…
Interest in emergent communication has recently surged in Machine Learning. The focus of this interest has largely been either on investigating the properties of the learned protocol or on utilizing emergent communication to better solve…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
Dense urban traffic environments can produce situations where accurate prediction and dynamic models are insufficient for successful autonomous vehicle motion planning. We investigate how an autonomous agent can safely negotiate with other…
Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…
Noncooperative multi-agent systems often face coordination challenges due to conflicting preferences among agents. In particular, when agents act in their own self-interest, they may prefer different choices among multiple feasible…
Urban traffic scenarios often require a high degree of cooperation between traffic participants to ensure safety and efficiency. Observing the behavior of others, humans infer whether or not others are cooperating. This work aims to extend…
We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…
Many sequential decision-making tasks require satisfaction of multiple, partially contradictory objectives. Existing approaches are monolithic, namely all objectives are fulfilled using a single policy, which is a function that selects a…