Related papers: Work-in-Progress: Traded Control Transfer for Mana…

As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system. Risk-aware behavior needs to naturally develop in order 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…

The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…

Autonomous driving technology has drawn a lot of attention due to its fast development and extremely high commercial values. The recent technological leap of autonomous driving can be primarily attributed to the progress in the environment…

When automated driving systems encounter complex situations beyond their operational capabilities, they issue takeover requests, prompting drivers to resume vehicle control and return to the driving loop as a critical safety backup.…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…

We propose a method for automated synchronization of vehicle sensors useful for the study of multi-modal driver behavior and for the design of advanced driver assistance systems. Multi-sensor decision fusion relies on synchronized data…

Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…

Safely interacting with humans is a significant challenge for autonomous driving. The performance of this interaction depends on machine learning-based modules of an autopilot, such as perception, behavior prediction, and planning. These…

Knowledge transfer is a promising concept to achieve real-time decision-making for autonomous vehicles. This paper constructs a transfer deep reinforcement learning framework to transform the driving tasks in inter-section environments. The…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…

The last decade's research in artificial intelligence had a significant impact on the advance of autonomous driving. Yet, safety remains a major concern when it comes to deploying such systems in high-risk environments. The objective of…

Autonomous and semi-autonomous vehicles' perception algorithms can encounter situations with erroneous object detection, such as misclassification of objects on the road, which can lead to safety violations and potentially fatal…

This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…

Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…

With the increasing safety validation requirements for the release of a self-driving car, alternative approaches, such as simulation-based testing, are emerging in addition to conventional real-world testing. In order to rely on virtual…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

The technology in the area of automated vehicles is gaining speed and promises many advantages. However, with the recent introduction of conditionally automated driving, we have also seen accidents. Test protocols for both, conditionally…

Trust is essential for automated vehicles (AVs) to promote and sustain technology acceptance in human-dominated traffic scenarios. However, computational trust dynamic models describing the interactive relationship between the AVs and…