Related papers: DMV-AVP: Distributed Multi-Vehicle Autonomous Vale…
In the vehicular mixed reality (MR) Metaverse, the distance between physical and virtual entities can be overcome by fusing the physical and virtual environments with multi-dimensional communications in autonomous driving systems. Assisted…
On-ramp merging areas are deemed to be typical bottlenecks for freeway networks due to the intensive disturbances induced by the frequent merging, weaving, and lane-changing behaviors. The Connected and Autonomous Vehicles (CAVs), benefited…
Network Functions Virtualization (NFV) is a promising network architecture where network functions are virtualized and decoupled from proprietary hardware. In modern datacenters, user network traffic requires a set of Virtual Network…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Autonomous driving vehicles (ADVs) are implemented with rich software functions and equipped with many sensors, which in turn brings broad attack surface. Moreover, the execution environment of ADVs is often open and complex. Hence, ADVs…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our…
This paper reports the development of a new open-access modular framework, called Marine Vehicle Packages (MVP), for Autonomous Underwater Vehicles. The framework consists of both software and hardware designs allowing easy construction of…
Recent advances in autonomous system simulation platforms have significantly enhanced the safe and scalable testing of driving policies. However, existing simulators do not yet fully meet the needs of future transportation…
The prediction of surrounding vehicle trajectories is crucial for collision-free path planning. In this study, we focus on a scenario where a connected and autonomous vehicle (CAV) serves as the central agent, utilizing both sensors and…
The simulation-based testing is essential for safely implementing autonomous vehicles (AV) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a…
In the past decade, unmanned aerial vehicles (UAVs) have been widely used in various civilian applications, most of which only require a single UAV. In the near future, it is expected that more and more applications will be enabled by the…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
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 automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts…
Most recent studies on establishing intersection safety focus on the situation where all vehicles are fully autonomous. However, currently most vehicles are human-driven and so we will need to transition through regimes featuring a varying…
The transition toward Software-Defined Vehicles (SDVs) represents a major paradigm shift in vehicle design, transforming traditional hardware-centric systems into software-centric platforms capable of dynamic adaptation and continuous…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…