Related papers: Decentralized approaches for autonomous vehicles c…
In the control of many autonomous subsystems, such as autonomous vehicles or UAV networks, a centralized control may be hindered by the prohibitive complexity, limited communication bandwidth, or private information of subsystems.…
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
Automated negotiation can be an efficient method for resolving conflict and redistributing resources in a coalition setting. Automated negotiation has already seen increased usage in fields such as e-commerce and power distribution in smart…
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving…
The problem of autonomous parking of vehicle fleets is addressed in this paper. We present a system-level modeling and control framework which allows investigating different vehicle parking strategies while taking into account path planning…
Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…
Optimal transport has been used extensively in resource matching to promote the efficiency of resources usages by matching sources to targets. However, it requires a significant amount of computations and storage spaces for large-scale…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
Autonomous vehicles (AVs) allow new ways of regulating the traffic flow on road networks. Most of available results in this direction are based on microscopic approaches, where ODEs describe the evolution of regular cars and AVs. In this…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
Experimental advances enabling high-resolution external control create new opportunities to produce materials with exotic properties. In this work, we investigate how a multi-agent reinforcement learning approach can be used to design…
We propose a decentralized market model in which agents can negotiate bilateral contracts. This builds on a similar, but centralized, model of trading networks introduced by Hatfield et al. in 2013. Prior work has established that…
Today's automated vehicles lack the ability to cooperate implicitly with others. This work presents a Monte Carlo Tree Search (MCTS) based approach for decentralized cooperative planning using macro-actions for automated vehicles in…
As autonomous vehicles enter public spaces, external human-machine interfaces are proposed to support communication with external road users. A decade of research has produced hundreds of studies and reviews, yet it remains unclear whether…