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The connectivity aspect of connected autonomous vehicles (CAV) is beneficial because it facilitates dissemination of traffic-related information to vehicles through Vehicle-to-External (V2X) communication. Onboard sensing equipment…
Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious…
In this study, we propose a novel heuristic two-step algorithm for shared ridehailing in which users can share their rides with only one more user. The algorithm, which is centrally formulated, starts with matching users and creating a set…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
Emerging transportation technologies offer unprecedented opportunities to improve the efficiency of the transportation system from the perspectives of energy consumption, congestion, and emissions. One of these technologies is connected and…
Developing efficient solutions for inference problems in intelligent sensor networks is crucial for the next generation of location, tracking, and mapping services. This paper develops a scalable distributed probabilistic inference…
Connected and Automated Vehicles (CAVs) are one of the emerging technologies in the automotive domain that has the potential to alleviate the issues of accidents, traffic congestion, and pollutant emissions, leading to a safe, efficient,…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Federated learning (FL) emerges as a promising approach to empower vehicular networks, composed by intelligent connected vehicles equipped with advanced sensing, computing, and communication capabilities. While previous studies have…
Situational awareness as a necessity in the connected and autonomous vehicles (CAV) domain is the subject of a significant number of researches in recent years. The driver's safety is directly dependent on the robustness, reliability, and…
Manual traffic surveillance can be a daunting task as Traffic Management Centers operate a myriad of cameras installed over a network. Injecting some level of automation could help lighten the workload of human operators performing manual…
Suppose in a stable urban traffic system populated only by human driven vehicles (HDVs), a given proportion (e.g. 10%) is replaced by a fleet of Connected and Autonomous Vehicles (CAVs), which share information and pursue a collective goal.…
Routing controllability of connected and autonomous vehicles (CAVs) has been shown to reduce the adverse effects of selfish routing on the network efficiency. However, the assumption that CAV owners would readily allow themselves to be…
In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
Autonomous vehicles (AVs) must interact with a diverse set of human drivers in heterogeneous geographic areas. Ideally, fleets of AVs should share trajectory data to continually re-train and improve trajectory forecasting models from…
The erratic nature of human driving tends to trigger undesired waves that amplify as successive driver reactions propagate from the errant vehicle to vehicles upstream. Known as phantom jams, this phenomenon has been identified in the…
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle…
Connected Autonomous Vehicle (CAV) Network can be defined as a collection of CAVs operating at different locations on a multilane corridor, which provides a platform to facilitate the dissemination of operational information as well as…