Related papers: Safety-Assured Arrival Scheduling in Sequential UA…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm…
In this paper, we propose a novel framework of air traffic management (ATM). The framework is in particular characterized by the trajectory planning of weakly supervised aircraft; the air traffic control (ATC) does not completely determine…
Due to the stochastic nature of departure operations, working at full capacity makes major US airports very sensitive to uncertainties. Consequently, airport ground operations face critically congested taxiways and long runway queues. In…
In this paper, we investigate the coordination of vehicle maneuvers in mixed-traffic corridors where connected and automated vehicles, human-driven vehicles, and buses interact under dedicated bus lane operations. We develop a segment-based…
We study dual-unmanned aerial vehicle (UAV) jamming-aided secure communication networks, in which one UAV delivers confidential data to multiple ground users (GUs), while a cooperative UAV provides protective interference against a ground…
We consider the problem of finding collision-free paths for curvature-constrained systems in the presence of obstacles while minimizing execution time. Specifically, we focus on the setting where a planar system can travel at some range of…
In autonomous mobility-on-demand systems, effectively managing vehicle flows to mitigate induced congestion and ensure efficient operations is imperative for system performance and positive customer experience. Against this background, we…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
Efficiency is critical for autonomous vehicles (AVs), especially for emergency AVs. However, most existing methods focus on regular vehicles, overlooking the distinct strategies required by emergency vehicles to address the challenge of…
Real-time and collision-free motion planning remains challenging for robotic manipulation in unknown environments due to continuous perception updates and the need for frequent online replanning. To address these challenges, we propose a…
Motivated by the need to study the performance of vehicular communication protocols as applicable to heterogeneous traffic conditions, we study the performance of IEEE 802.11p medium access protocol under such a traffic setup. We consider a…
Urban Air Mobility (UAM) envisions aerial corridors for Unmanned Aerial Vehicles (UAVs) to reduce ground traffic congestion by supporting 3D mobility, such as air taxis. A key challenge in these high-mobility aerial corridors is ensuring…
Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions,…
This paper presents a robust computationally efficient real-time collision avoidance algorithm for Unmanned Aerial Vehicle (UAV), namely Memory-based Wall Following-Artificial Potential Field (MWF-APF) method. The new algorithm switches…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
To support the adoption of electric transport systems, public charging opportunities are becoming increasingly important. In this dynamic environment, a central challenge for route planning and charging scheduling is forecasting…
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a goal and avoid obstacles. This paper addresses the near…
Estimated Time of Arrival (ETA) plays an important role in delivery and ride-hailing platforms. For example, Uber uses ETAs to calculate fares, estimate pickup times, match riders to drivers, plan deliveries, and more. Commonly used route…
We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, however, within our framework we show that solving them…