Related papers: Hierarchical Control for Vehicle Repositioning in …
Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic,…
In this work, we face the issue of achieving an efficient dynamic mapping in vehicular networking scenarios, i.e., to obtain an accurate estimate of the positions and trajectories of connected vehicles in a certain area. State of the art…
In this paper, we focus on the autonomous multiagent taxi routing problem for a large urban environment where the location and number of future ride requests are unknown a-priori, but can be estimated by an empirical distribution. Recent…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
We present a probabilistic proactive rebalancing method and speed-up techniques for improving the performance of a state-of-the-art real-time high-capacity fleet management framework [1]. We improve on both computational efficiency and…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
In this paper, we consider fair assignment of complex requests for Mobility-On-Demand systems. We model the transportation requests as temporal logic formulas that must be satisfied by a fleet of vehicles. We require that the assignment of…
Car sharing is one of the key elements of a Mobility-on-Demand system, but it still suffers from several shortcomings, the most significant of which is the fleet unbalance during the day. What is typically observed in car sharing systems,…
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at translating human verbal instructions into a sequence of…
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…
While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and adaptable driving capability. By mimicking humans' cognition…
Ride-pooling, which accommodates multiple passenger requests in a single trip, has the potential to significantly increase fleet utilization in shared mobility platforms. The ride-pooling assignment problem finds optimal co-riders to…
Platooning of vehicles is a promising approach for reducing fuel consumption, increasing vehicle safety, and using road space more efficiently. We consider the important but difficult problem of assigning optimal routes and departure…
This work introduces an integrated approach to optimizing urban traffic by combining predictive modeling of vehicle flow, adaptive traffic signal control, and a modular integration architecture through distributed messaging. Using real-time…
The problem of optimizing social welfare objectives on multi sided ride hailing platforms such as Uber, Lyft, etc., is challenging, due to misalignment of objectives between drivers, passengers, and the platform itself. An ideal solution…
Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
In a ride-hailing system, an optimal relocation of vacant vehicles can significantly reduce fleet idling time and balance the supply-demand distribution, enhancing system efficiency and promoting driver satisfaction and retention.…
The paper addresses the Vehicle Relocation Problem in free-floating car-sharing services by presenting a solution focused on strategies for repositioning vehicles and transferring personnel with the use of scooters. Our method begins by…
Demand response represents a significant but largely untapped resource that can greatly enhance the flexibility and reliability of power systems. This paper proposes a hierarchical control framework to facilitate the integrated coordination…