Related papers: Enhanced Multi-Target Tracking in Dynamic Environm…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
Emerging transportation technologies offer unprecedented opportunities to improve the efficiency of the transportation system from the perspectives of energy consumption, congestion, and emissions. One of these technologies is connected and…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
With the rapid advancement of underwater net-working and multi-agent coordination technologies, autonomous underwater vehicle (AUV) ad-hoc networks have emerged as a pivotal framework for executing complex maritime missions, such as…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
Connected and autonomous vehicles across land, water, and air must often operate in dynamic, unpredictable environments with limited communication, no centralized control, and partial observability. These real-world constraints pose…
In a mixed traffic with connected automated vehicles (CAVs) and human-driven vehicles (HDVs) coexisting, data-driven predictive control of CAVs promises system-wide traffic performance improvements. Yet, most existing approaches focus on a…
Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…