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We quantify the value-at-risk of inter-vehicle collision and detachment for a class of platoons, which are governed by second-order dynamics in presence of communication time-delay and exogenous stochastic noise. Closed-form expressions for…
In variable or graph selection problems, finding a right-sized model or controlling the number of false positives is notoriously difficult. Recently, a meta-algorithm called Stability Selection was proposed that can provide reliable…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
The planning problem constitutes a fundamental aspect of the autonomous driving framework. Recent strides in representation learning have empowered vehicles to comprehend their surrounding environments, thereby facilitating the integration…
We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear…
This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with formal robustness and stability guarantees, by designing a…
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal…
In this work, we present a learning method for lateral and longitudinal motion control of an ego-vehicle for vehicle pursuit. The car being controlled does not have a pre-defined route, rather it reactively adapts to follow a target vehicle…
Achieving safety is a critical aspect of attaining autonomy in a platoon of autonomous vehicles. In this paper, we propose a distributionally robust risk framework to investigate cascading failures in platoons. To examine the impact of…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
The software architecture behind modern autonomous vehicles (AV) is becoming more complex steadily. Safety verification is now an imminent task prior to the large-scale deployment of such convoluted models. For safety-critical tasks in…
Feedback dynamic routing is a commonly used control strategy in transportation systems. This class of control strategies relies on real-time information about the traffic state in each link. However, such information may not always be…
As part of the automation of commercial vehicles, the number of assistance systems in this field is continuously increasing. The semitrailer plays an important role for the vehicles driving dynamics due to its highly varying loads and the…
The emergence of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic where human-driven vehicles (HDVs) also exist, existing research mostly focuses on "looking ahead" (i.e., the CAVs receive information…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
Modern driver assistance systems as well as autonomous vehicles take their decisions based on local maps of the environment. These maps include, for example, surrounding moving objects perceived by sensors as well as routes and navigation…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an…
In this paper, the challenge of resilient vehicular communications is investigated for a vehicle-to-vehicle (V2V) wireless link subject to timing jitter induced by the stochastic evolution of interference and inter-vehicular separation…
Trajectory prediction is essential for the safety and efficiency of planning in autonomous vehicles. However, current models often fail to fully capture complex traffic rules and the complete range of potential vehicle movements. Addressing…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…