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In this paper we study rebalancing strategies for a mobility-on-demand urban transportation system blending customer-driven vehicles with a taxi service. In our system, a customer arrives at one of many designated stations and is…
Demand for fast and economical parcel deliveries in urban environments has risen considerably in recent years. A framework envisions efficient last-mile delivery in urban environments by leveraging a network of ride-sharing vehicles, where…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
For on-demand dynamic ride-pooling services, e.g., Uber Pool and Didi Pinche, a well-designed vehicle dispatching strategy is crucial for platform profitability and passenger experience. Most existing dispatching strategies overlook…
This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw…
Human trajectory forecasting is important for intelligent multimedia systems operating in visually complex environments, such as autonomous driving and crowd surveillance. Although Conditional Flow Matching (CFM) has shown strong ability in…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
Ride-sourcing platforms often face imbalances in the demand and supply of rides across areas in their operating road-networks. As such, dynamic pricing methods have been used to mediate these demand asymmetries through surge price…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Understanding city-scale vehicular mobility and trip patterns is essential to addressing many problems, from transportation and pollution to public safety, among others. Using spatio-temporal analysis of vehicular mobility, promising…
Recent deep trajectory predictors (e.g., Jiang et al., 2023; Zhou et al., 2022) have achieved strong average accuracy but remain unreliable in complex long-tail driving scenarios. These limitations reveal the weakness of the prevailing…
Estimating the travel time of a path is an essential topic for intelligent transportation systems. It serves as the foundation for real-world applications, such as traffic monitoring, route planning, and taxi dispatching. However, building…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Advances in artificial intelligence (AI) including foundation models (FMs), are increasingly transforming human society, with smart city driving the evolution of urban living.Meanwhile, vehicle crowdsensing (VCS) has emerged as a key…
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gradient Field-based Dynamic Window Approach (GF-DWA). Building…
Constructing a smart wheelchair on a commercially available powered wheelchair (PWC) platform avoids a host of seating, mechanical design and reliability issues but requires methods of predicting and controlling the motion of a device never…
This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…
Wind generation is traditionally treated as a non-dispatchable resource and is fully absorbed unless there are security issues. To tackle the operational reliability issues caused by the volatile and non-dispatchable wind generation, many…