Related papers: C2TE: Coordinated Constrained Task Execution Desig…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
The capacitated location-routing problem involves determining the depots from a set of candidate capacitated depot locations and finding the required routes from the selected depots to serve a set of customers whereas minimizing a cost…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
Coordinating a team of robots to reposition multiple objects in cluttered environments requires reasoning jointly about where robots should establish contact, how to manipulate objects once contact is made, and how to navigate safely and…
In this study, we introduce a toll lane framework that optimizes the mixed flow of autonomous and high-occupancy vehicles on freeways, where human-driven and autonomous vehicles of varying commuter occupancy share a segment. Autonomous…
Leveraging the computing and sensing capabilities of vehicles, vehicular federated learning (VFL) has been applied to edge training for connected vehicles. The dynamic and interconnected nature of vehicular networks presents unique…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
As a strategy to reduce travel delay and enhance energy efficiency, platooning of connected and autonomous vehicles (CAVs) at non-signalized intersections has become increasingly popular in academia. However, few studies have attempted to…
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
In this paper, a novel proximity and load-aware resource allocation for vehicle-to-vehicle (V2V) communication is proposed. The proposed approach exploits the spatio-temporal traffic patterns, in terms of load and vehicles' physical…
Connected autonomous vehicles (CAVs) must simultaneously perform multiple tasks, such as object detection, semantic segmentation, depth estimation, trajectory prediction, motion prediction, and behaviour prediction, to ensure safe and…
We consider the Multi-Robot Task Allocation (MRTA) problem that aims to optimize an assignment of multiple robots to multiple tasks in challenging environments which are with densely populated obstacles and narrow passages. In such…
Recently, centralized receding horizon online multi-robot coverage path planning algorithms have shown remarkable scalability in thoroughly exploring large, complex, unknown workspaces with many robots. In a horizon, the path planning and…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Autonomous vehicles (AVs) will revolutionarize ground transport and take a substantial role in the future transportation system. Most AVs are likely to be electric vehicles (EVs) and they can participate in the vehicle-to-grid (V2G) system…