Related papers: V-STC: A Time-Efficient Multi-Vehicle Coordinated …
We propose a Stochastic MPC (SMPC) formulation for path planning with autonomous vehicles in scenarios involving multiple agents with multi-modal predictions. The multi-modal predictions capture the uncertainty of urban driving in distinct…
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…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
In this paper, we present Stratified Topological Autonomy for Long-Range Coordination (STALC), a hierarchical planning approach for multi-robot coordination in real-world environments with significant inter-robot spatial and temporal…
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)…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
This paper proposes a coordinated routing approach that investigates the use of connected and automated vehicles (CAVs) in dedicated bus lanes. The aim is to improve bus schedule adherence while enhancing the travel efficiency of CAVs…
We consider the problem of delivering multiple packages from a single depot to distinct goal locations using a homogeneous fleet of robots with limited carrying capacity. We propose VCST-RCP, a Voronoi-Constrained Steiner Tree Relay…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
Aiming at the problem of driver's perception lag and low utilization efficiency of space-time resources in expressway ramp confluence area, based on the preemptive spatiotemporal trajectory Adjustment system, from the perspective of…
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce Chance-Constrained Via-Point-Based Stochastic Trajectory…
The merging area of highway ramps faces multiple challenges, including traffic congestion, collision risks, speed mismatches, driver behavior uncertainties, limited visibility, and bottleneck effects. However, autonomous vehicles engaging…
Though great effort has been put into the study of path planning on urban roads and highways, few works have studied the driving strategy and trajectory planning in low-speed driving scenarios, e.g., driving on a university campus or…