Related papers: Vehicles Swarm Intelligence: Cooperation in both L…
Vehicle positioning is considered a key element in autonomous driving systems. While conventional positioning requires the use of GPS and/or beacon signals from network infrastructure for triangulation, they are sensitive to multi-path and…
This paper investigates the problem of ecological driving (eco-driving) of vehicle platoons. To reduce the probability of the platoon avoiding red lights and increase fuel efficiency, a two-layer control architecture is proposed. The first…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other…
Swarm systems consist of large numbers of robots that collaborate autonomously. With an appropriate level of human control, swarm systems could be applied in a variety of contexts ranging from search-and-rescue situations to Cyber defence.…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
The simultaneous control of multiple coordinated robotic agents represents an elaborate problem. If solved, however, the interaction between the agents can lead to solutions to sophisticated problems. The concept of swarming, inspired by…
In this paper, we propose an optimization framework for cooperative merging of platoons of connected and automated vehicles at highway on-ramps. The framework includes (1) an optimal scheduling algorithm, through which, each platoon derives…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…
Controlling and coordinating urban traffic flow through robot vehicles is emerging as a novel transportation paradigm for the future. While this approach garners growing attention from researchers and practitioners, effectively managing and…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
To accomplish complex swarm robotic missions in the real world, one needs to plan and execute a combination of single robot behaviors, group primitives such as task allocation, path planning, and formation control, and mission-specific…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Swarm robotic systems are systems in which multiple robots having simple functionality perform tasks through their cooperation, and are advantageous in that they can exhibit non-trivial macroscopic functions such as adaptability, fault…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…