Related papers: Improved Consensus ADMM for Cooperative Motion Pla…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…
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…
Developments in cooperative trajectory planning of connected autonomous vehicles (CAVs) have gathered considerable momentum and research attention. Generally, such problems present strong non-linearity and non-convexity, rendering great…
Transportation system is facing a sharp disruption since the Connected Autonomous Vehicles (CAVs) can free people from driving and provide good driving experience with the aid of Vehicle-to-Vehicle (V2V) communications. Although CAVs bring…
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particularly in accommodating diverse passenger needs and dynamic…
Decentralized conflict resolution for autonomous vehicles is needed in many places where a centralized method is not feasible, e.g., parking lots, rural roads, merge lanes, etc. However, existing methods generally do not fully utilize…
UAV swarms can form virtual antenna arrays to exploit additional spatial degrees of freedom and enhance integrated sensing and communication (ISAC). The optimization of UAV positions is challenging due to the distributed nature of swarms…
This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…
Connected and automated vehicle (CAV) technology is one of the promising solutions to addressing the safety, mobility and sustainability issues of our current transportation systems. Specifically, the control algorithm plays an important…
We consider constraint-coupled optimization problems in which agents of a network aim to cooperatively minimize the sum of local objective functions subject to individual constraints and a common linear coupling constraint. We propose a…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing…
At present, Connected Autonomous Vehicles (CAVs) have begun to open road testing around the world, but their safety and efficiency performance in complex scenarios is still not satisfactory. Cooperative driving leverages the connectivity…
In this paper, we propose a communication- and computation-efficient algorithm to solve a convex consensus optimization problem defined over a decentralized network. A remarkable existing algorithm to solve this problem is the alternating…