Related papers: Enhanced Multi-Target Tracking in Dynamic Environm…
In multi-robot multi-target tracking, robots coordinate to monitor groups of targets moving about an environment. We approach planning for such scenarios by formulating a receding-horizon, multi-robot sensing problem with a mutual…
Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
In this paper, the problem of distributed state estimation of human-driven vehicles (HDVs) by connected autonomous vehicles (CAVs) is investigated in mixed traffic transportation systems. Toward this, a distributed observable state-space…
The aim of the present dissertation is to address distributed tracking over a network of heterogeneous and geographically dispersed nodes (or agents) with sensing, communication and processing capabilities. Tracking is carried out in the…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
This paper re-visits a multi-agent deployment problem where agents are restricted from requesting information from other agents as well as sending acknowledgments when information is received. These communication constraints relax the…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
In this paper, we investigate traffic signal control in a network of interconnected intersections, aiming to balance lane-level vehicle densities through optimal green-time allocation. We develop a two-lane traffic flow model that…
The Eco-Driving control problem seeks to perform fuel efficient speed planning for a Connected and Autonomous Vehicle (CAV) that can exploit information available from advanced mapping, and from Vehicle-to-Everything (V2X) communication.…
We introduce a class of distributed nonlinear control systems, termed as the flow-tracker dynamics, which capture phenomena where the average state is controlled by the average control input, with no individual agent has direct access to…
Cameras are a core sensing modality in modern intelligent transportation systems (ITS), providing rich visual information on road-user activities. Multi-Camera Vehicle Tracking (MCVT) uses this data to reconstruct vehicle trajectories…
This brief proposes a quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems when fuel and control input are limited. This kind of motion planning and control strategy could bring the biggest…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance…
This paper addresses distributed registration of a sensor network for multitarget tracking. Each sensor gets measurements of the target position in a local coordinate frame, having no knowledge about the relative positions (referred to as…
With the ever-increasing range of applications of Internet in Things (IoT) and sensor networks, challenges are emerging in various categories of classification tasks. Applications such as vehicular networking, UAV swarm coordination and…