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The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
As the automotive industry is developing autonomous driving systems and vehicular networks, attention to truck platooning has increased as a way to reduce costs (fuel consumption) and improve efficiency in the highway. Recent research in…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…
We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to…
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…
Autonomous vehicles must be comprehensively evaluated before deployed in cities and highways. However, most existing evaluation approaches for autonomous vehicles are static and lack adaptability, so they are usually inefficient in…
An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
On-Demand Ride-Pooling services have the potential to increase traffic efficiency compared to private vehicle trips by decreasing parking space needed and increasing vehicle occupancy due to higher vehicle utilization and shared trips,…
Most automated driving functions are designed for a specific task or vehicle. Most often, the underlying architecture is fixed to specific algorithms to increase performance. Therefore, it is not possible to deploy new modules and…
Real-world evaluation of perception-based planning models for robotic systems, such as autonomous vehicles, can be safely and inexpensively conducted offline, i.e. by computing model prediction error over a pre-collected validation dataset…
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…
Platooning has emerged as a promising strategy for improving fuel efficiency in automated vehicle systems, with significant implications for reducing emissions and operational costs. While existing literature on vehicle platooning primarily…
Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
With the growing penetration of electric trucks, freight transportation is transitioning toward a mixed system comprising both fuel-powered and electric trucks. Enhancing truck platoon formation in such a heterogeneous environment presents…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…
Platooning or cooperative adaptive cruise control (CACC) has been investigated for decades, but debate about its lasting impact is still ongoing. While the benefits of platooning and the formation of platoons are well understood for trucks,…