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This paper considers the problem of distributed estimation in a sensor network, where multiple sensors are deployed to infer the state of a linear time-invariant (LTI) Gaussian system. By proposing a lossless decomposition of Kalman filter,…
As Intelligent Transportation System (ITS) develops, Connected and Automated Vehicles (CAVs) are expected to significantly reduce traffic congestion through cooperative strategies, such as in bottleneck areas. However, the uncertainty and…
Autonomous vehicles (AVs) use object detection models to recognize their surroundings and make driving decisions accordingly. Conventional object detection approaches classify objects into known classes, which limits the AV's ability to…
Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…
This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed…
Floating Car Observers (FCOs) are an innovative method to collect traffic data by deploying sensor-equipped vehicles to detect and locate other vehicles. We demonstrate that even a small penetration rate of FCOs can identify a significant…
Clustering is a fundamental task in the computer vision and machine learning community. Although various methods have been proposed, the performance of existing approaches drops dramatically when handling incomplete high-dimensional data…
Federated learning has been widely applied in autonomous driving since it enables training a learning model among vehicles without sharing users' data. However, data from autonomous vehicles usually suffer from the…
Cooperative localization is considered a key solution for enabling autonomous navigation of multi-vehicle systems (MVS) in GNSS-denied environments. Among all solutions, distributed cooperative localization (DCL) has garnered widespread…
Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
Car-Following (CF), as a fundamental driving behaviour, has significant influences on the safety and efficiency of traffic flow. Investigating how human drivers react differently when following autonomous vs. human-driven vehicles (HV) is…
Intelligent transport systems (ITS) are pivotal in the development of sustainable and green urban living. ITS is data-driven and enabled by the profusion of sensors ranging from pneumatic tubes to smart cameras. This work explores a novel…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
Traffic management and on-road safety have been a concern for the transportation authorities and the engineering communities for many years. Most of the implemented technologies for intelligent highways focus on safety measures and…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
We study the problem of designing distributed functional observers for LTI systems. Specifically, we consider a setting consisting of a state vector that evolves over time according to a dynamical process. A set of nodes distributed over a…