相关论文: Adaptive Content Control for Communication amongst…

This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…

This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…

Sensor-based perception on vehicles are becoming prevalent and important to enhance the road safety. Autonomous driving systems use cameras, LiDAR, and radar to detect surrounding objects, while human-driven vehicles use them to assist the…

Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…

Cooperative perception can significantly improve the perception performance of autonomous vehicles beyond the limited perception ability of individual vehicles by exchanging information with neighbor agents through V2X communication.…

The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…

Vehicular communication requires vehicles to self-organize through the exchange of periodic beacons. Recent analysis on beaconing indicates that the standards for beaconing restrict the desired performance of vehicular applications. This…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to significantly improve safety and transportation efficiency by monitoring network conditions and making better operating decisions. CAVs,…

We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…

Collaborative decision making in multi-agent systems typically requires a predefined communication protocol among agents. Usually, agent-level observations are locally processed and information is exchanged using the predefined protocol,…

In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of human drivers may compromise the efficiency, optimality, and…

Cooperative Adaptive Cruise Control (CACC) is a vehicular technology that allows groups of vehicles on the highway to form in closely-coupled automated platoons to increase highway capacity and safety, and decrease fuel consumption and CO2…

This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…

Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on…

Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…

Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

Past work has demonstrated that autonomous vehicles can drive more safely if they communicate with one another than if they do not. However, their communication has often not been human-understandable. Using natural language as a…

In this work, we use the communication of intent as a means to facilitate cooperation between autonomous vehicle agents. Generally speaking, intents can be any reliable information about its future behavior that a vehicle communicates with…

Autonomous vehicles (AVs) may use external interfaces, such as LED light bands, to communicate with pedestrians safely and intuitively. While previous research has demonstrated the effectiveness of these interfaces in simple traffic…