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Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

Among the current advanced driver assistance systems, Vehicle-to-Vehicle (V2V) technology has great potential to increase Vehicular Ad Hoc Network (VANET) performance in terms of security, energy efficiency, and comfortable driving. In…

In a Vehicular Ad-hoc Network (VANET), the amount of interference from neighboring nodes to a communication link is governed by the vehicle density dynamics in vicinity and transmission probabilities of terminals. It is obvious that…

Vehicular Ad Hoc Networks (VANETs) are self-organizing, self-healing networks which provide wireless communication among vehicular and roadside devices. Applications in such networks can take advantage of the use of simultaneous…

A Vehicular Ad-hoc Network (VANET) is a collection of wireless vehicle nodes forming a temporary network without using any centralized Road Side Unit (RSU). VANET protocols have to face high challenges due to dynamically changing topologies…

Global infrastructure robustness and local transport efficiency are critical requirements for transportation networks. However, since passengers often travel greedily to maximize their own benefit and trigger traffic jams, overall…

Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…

Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…

In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…

In this paper, we introduce DynaRoute, an adaptive joint optimization framework for dynamic vehicular networks that simultaneously addresses platoon control and data transmission through trajectory-aware routing and safety-constrained…

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or…

The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…

We propose an adaptive control strategy for the simultaneous estimation of topology and synchronization in complex dynamical networks with unknown, time-varying topology. Our approach transforms the problem of time-varying topology…

Developing routing protocols for Vehicular Ad Hoc Networks (VANETs) is a significant challenge in these large, self- organized and distributed networks. We address this challenge by studying VANETs from a network science perspective to…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

The emerging field of vehicular ad hoc networks (VANETs) deals with a set of communicating vehicles which are able to spontaneously interconnect without any pre-existing infrastructure. In such kind of networks, it is crucial to make an…

Now a days Vehicular Ad hoc Network is an emerging technology. Mobility management is one of the most challenging research issues for Vehicular Ad hoc Network to support variety of intelligent transportation system applications. Vehicular…

Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…

Green Vehicular Ad-hoc Network (VANET) is a newly-emerged research area which focuses on reducing harmful impacts of vehicular communication equipments on the natural environment. Recent studies have shown that grouping vehicles into…