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Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…
Designing policies for a network of agents is typically done by formulating an optimization problem where each agent has access to state measurements of all the other agents in the network. Such policy designs with centralized information…
This paper introduces a centralized approach for fuel-efficient urban platooning by leveraging real-time Vehicle- to-Everything (V2X) communication and Signal Phase and Timing (SPaT) data. A nonlinear Model Predictive Control (MPC)…
Last-mile delivery in the logistics chain contributes to emissions and increased congestion. Crowd-shipping is a sustainable and low-cost alternative to traditional delivery, but relies heavily on the availability of occasional couriers. In…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
Data shuffling between distributed cluster of nodes is one of the critical steps in implementing large-scale learning algorithms. Randomly shuffling the data-set among a cluster of workers allows different nodes to obtain fresh data…
In vehicular cloud computing (VCC) systems, the computational resources of moving vehicles are exploited and managed by infrastructures, e.g., roadside units, to provide computational services. The offloading of computational tasks and…
This paper presents a multiscale approach to efficiently compute approximate optimal transport plans between point sets. It is particularly well-suited for point sets that are in high-dimensions, but are close to being intrinsically…
This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and…
We consider the problem of load balancing in parallel queues by transferring customers between them at discrete points in time. Holding costs accrue as customers wait in the queue, while transfer decisions incur both fixed (setup) costs and…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
Vehicle platooning is an automated driving technology that enables a group of vehicles to travel very closely together as a single unit to improve fuel efficiency and driver safety and reduces CO2 emission. The significant benefits of…
Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topologies. However, it is beneficial to design both the…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…