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As passenger vehicle technologies have advanced, so have their capabilities to avoid obstacles, especially with developments in tires, suspensions, steering, as well as safety technologies like ABS, ESC, and more recently, ADAS systems.…
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an n-dimensional trajectory from the start- to an arbitrary…
Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles. This paper presents a mathematical formulation for the optimal speed planning of autonomous driving, which has been validated in…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
Modeling and congestion mitigation of mixed-autonomy traffic systems consisting of human-driven vehicles (HVs) and autonomous vehicles (AVs) have become increasingly critical with the rapid development of autonomous driving technology. This…
Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban environments. Existing methods may fall short due to separate…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Urban Air mobility has gained momentum with recent advancements in the electric vertical take-off and landing (eVTOL) vehicles, offering faster point-to-point air taxi services that could help relieve traffic congestion in chronically…
Due to the rapid development technologies for small unmanned aircraft systems (sUAS), the supply and demand market for sUAS is expanding globally. With the great number of sUAS ready to fly in civilian airspace, an sUAS aircraft traffic…
Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning…
This paper introduces a novel approach to detour management in Urban Air Traffic Management (UATM) using knowledge representation and reasoning. It aims to understand the complexities and requirements of UAM detours, enabling a method that…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
In today's WLANs, scheduling of packet transmissions solely relies on the collision and success a station may experience. To better support traffic differentiation in dense WLANs, in this paper, we propose a distributed reservation…
Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…
Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A key component of our framework is a novel hybrid planner that…
In wireless local area networks (WLANs), a media access protocol arbitrates access to the channel. In current IEEE 802.11 WLANs, carrier sense multiple access with collision avoidance (CSMA/CA) is used. Carrier sense multiple access with…
This article presents dynamic directional lane allocation in urban air mobility (UAM) corridors as a discrete-time mixed-integer linear program (MILP). This formulation activates, deactivates, and reverses lane direction as bi-directional…
This paper presents a two-stage trajectory planning framework for a multi-UAV rigid-payload cascaded transportation system, aiming to address planning challenges in densely cluttered environments. In Stage I, an Enhanced Tube-RRT* algorithm…
Urban Air Mobility (UAM) presents a transformative vision for metropolitan transportation, but its practical implementation is hindered by substantial infrastructure costs and operational complexities. We address these challenges by…