Related papers: Joint Travel Route Optimization Framework for Plat…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…
Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…
The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…
We consider the scenario where human-driven/autonomous vehicles with low/high occupancy are sharing a segment of highway and autonomous vehicles are capable of increasing the traffic throughput by preserving a shorter headway than…
Intelligent connected vehicles equipped with wireless sensors, intelligent control system, and communication devices are expected to commercially launch and emerge on road in short-term. These smart vehicles are able to partially/fully…
We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies…
This work reconsiders the concept of community-based trip sharing proposed by Hasan et al. (2018) that leverages the structure of commuting patterns and urban communities to optimize trip sharing. It aims at quantifying the benefits of…
Ensuring travelers' safety on roads has become a research challenge in recent years. We introduce a novel safe route planning problem and develop an efficient solution to ensure the travelers' safety on roads. Though few research attempts…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…
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…
This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…
Ride-sharing or vehicle-pooling allows commuters to team up spontaneously for transportation cost sharing. This has become a popular trend in the emerging paradigm of sharing economy. One crucial component to support effective ride-sharing…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
This paper examines the degree to which connectivity and automation can potentially reduce the overall fuel consumption of on-road vehicles. The paper begins with a simulation study highlighting the tradeoff between: (i) the fuel that a…
Truck platooning technology enables a group of trucks to travel closely together, with which the platoon can save fuel, improve traffic flow efficiency, and improve safety. In this paper, we consider the platoon coordination problem in a…
When people pick routes to minimize their travel time, the total experienced delay, or social cost, may be significantly greater than if people followed routes assigned to them by a social planner. This effect is accentuated when human…
In this letter, we propose a new routing strategy to improve the transportation efficiency on complex networks. Instead of using the routing strategy for shortest path, we give a generalized routing algorithm to find the so-called {\it…
We study the problem of planning routes in road networks when certain streets or areas are closed at certain times. For heavy vehicles, such areas may be very large since many European countries impose temporary driving bans during the…