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This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…
Distributed Acoustic Sensing (DAS) has emerged as a promising tool for real-time traffic monitoring in densely populated areas. In this paper, we present a novel concept that integrates DAS data with co-located visual information. We use…
Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
Stochastic Human Trajectory Prediction (HTP) using generative modeling has emerged as a significant area of research. Although state-of-the-art models excel in optimizing the accuracy of individual agents, they often struggle to generate…
Autonomous driving systems have achieved significant advances, and full autonomy within defined operational design domains near practical deployment. Expanding these domains requires addressing safety assurance under diverse conditions.…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
In this paper, a novel real-time video and data capture of vehicle accident is proposed in Intelligent Transportation System (ITS). The proposed scheme solves the problem of huge storage needed for recording vehicle accident in the smart…
This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…
Recently there have been a lot of interests in introducing UAVs for a wide range of applications, making ensuring safety of multi-vehicle systems a highly crucial problem. Hamilton-Jacobi (HJ) reachability is a promising tool for analyzing…
Road traffic injuries are the leading cause of death for people aged 5-29, resulting in about 1.19 million deaths each year. To reduce these fatalities, it is essential to address human errors like speeding, drunk driving, and distractions.…
The emergence of 5G technologies opens opportunities to support mission-critical activities with high-speed Internet coverage. This paper defines a joint job-emitting vehicle routing problem with time windows to coordinate the operations of…
Movie-Map, an interactive first-person-view map that engages the user in a simulated walking experience, comprises short 360{\deg} video segments separated by traffic intersections that are seamlessly connected according to the viewer's…
Takeovers remain a key safety vulnerability in production ADAS, yet existing public resources rarely provide takeover-centered, real-world data. We present ADAS-TO, the first large-scale naturalistic dataset dedicated to ADAS-to-manual…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
Vehicle weaving on highways contributes to traffic congestion, raises safety issues, and underscores the need for sophisticated traffic management systems. Current tools are inadequate in offering precise and comprehensive data on…
In this study, we propose a novel heuristic two-step algorithm for shared ridehailing in which users can share their rides with only one more user. The algorithm, which is centrally formulated, starts with matching users and creating a set…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
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…