Related papers: Ensuring Safety at Intelligent Intersections: Temp…
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applied to an autonomous driving problem. Combining abstract…
Efficient behavior and trajectory planning is one of the major challenges for automated driving. Especially intersection scenarios are very demanding due to their complexity arising from the variety of maneuver possibilities and other…
Reliable collision avoidance under extreme situations remains a critical challenge for autonomous vehicles. While large language models (LLMs) offer promising reasoning capabilities, their application in safety-critical evasive maneuvers is…
Interconnected systems such as power systems and chemical processes are often required to satisfy safety properties in the presence of faults and attacks. Verifying safety of these systems, however, is computationally challenging due to…
In this paper, we introduce a hybrid zonotope-based approach for formally verifying the behavior of autonomous systems operating under Linear Temporal Logic (LTL) specifications. In particular, we formally verify the LTL formula by…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
This paper presents a new approach to design verified compositions of Neural Network (NN) controllers for autonomous systems with tasks captured by Linear Temporal Logic (LTL) formulas. Particularly, the LTL formula requires the system to…
Multi-vehicle collision avoidance is a highly crucial problem due to the soaring interests of introducing autonomous vehicles into the real world in recent years. The safety of these vehicles while they complete their objectives is of…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
In intelligent transportation systems (ITS), adaptive transit signal priority (TSP) and dynamic bus control systems have been independently developed to maintain efficient and reliable urban bus services. However, those two systems could…
For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…
Addressing pedestrian safety at intersections is one of the paramount concerns in the field of transportation research, driven by the urgency of reducing traffic-related injuries and fatalities. With advances in computer vision technologies…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
This paper presents a 1/10th scale mini-city platform used as a testing bed for evaluating autonomous and connected vehicles. Using the mini-city platform, we can evaluate different driving scenarios including human-driven and autonomous…
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…
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…
Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…
In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…
To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…
Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…