Related papers: Virtual Traffic Lights for Multi-Robot Navigation:…
Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…
Traffic congestion is a daunting problem that is affecting the daily lives of billions of people across the world. Recently, a promising new traffic control scheme known as Virtual Traffic Lights (VTL) has been proposed for mitigating…
Providing an efficient strategy to navigate safely through unsignaled intersections is a difficult task that requires determining the intent of other drivers. We explore the effectiveness of Deep Reinforcement Learning to handle…
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…
Traffic control management at intersections, a challenging and complex field of study, aims to attain a balance between safety and efficient traffic control. Nowadays, traffic control at intersections is typically done by traffic light…
Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…
As in any interaction process, misunderstandings, ambiguity, and failures to correctly understand the interaction partner are bound to happen in human-robot interaction. We term these failures 'conflicts' and are interested in both conflict…
Effective mixed traffic control requires balancing efficiency, fairness, and safety. Existing approaches excel at optimizing efficiency and enforcing safety constraints but lack mechanisms to ensure equitable service, resulting in…
Tracking congestion throughout the network road is a critical component of Intelligent transportation network management systems. Understanding how the traffic flows and short-term prediction of congestion occurrence due to rush-hour or…
This work examines the implications of uncoupled intersections with local real-world topology and sensor setup on traffic light control approaches. Control approaches are evaluated with respect to: Traffic flow, fuel consumption and noise…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Emergency vehicles (EMVs) play a critical role in a city's response to time-critical events such as medical emergencies and fire outbreaks. The existing approaches to reduce EMV travel time employ route optimization and traffic signal…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…