Related papers: Enhanced Multi-Target Tracking in Dynamic Environm…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect the plant and reference system with decentralized…
Time-dependent fixed-time control is a cost-effective control method that is widely employed at signalized intersections in numerous countries. Existing optimization models rely on traditional delay models with specific assumptions…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
We investigate the challenging problem of integrating detection, signal processing, target tracking, and adaptive waveform scheduling with lookahead in urban terrain. We propose a closed-loop active sensing system to address this problem by…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables multiple behavior modes for the agent, including exploration,…
This paper presents a novel framework for goal-oriented optimal static sensor placement and dynamic sensor steering in PDE-constrained inverse problems, utilizing a Bayesian approach accelerated by low-rank approximations. The framework is…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
High-resolution radar sensors are able to resolve multiple detections per object and therefore provide valuable information for vehicle environment perception. For instance, multiple detections allow to infer the size of an object or to…
Emerging distributed cloud architectures, e.g., fog and mobile edge computing, are playing an increasingly important role in the efficient delivery of real-time stream-processing applications (also referred to as augmented information…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
Maximum target coverage by adjusting the orientation of distributed sensors is an important problem in directional sensor networks (DSNs). This problem is challenging as the targets usually move randomly but the coverage range of sensors is…