相关论文: Safety Verification and Control for Collision Avoi…

An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…

This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…

In this paper, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, we propose an algorithm that is called the Discrete-time occupancies…

This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…

In this paper, we propose a supervisory control scheme that unifies the abilities of safety protection and safety extension. It produces a control that is able to keep the system safe indefinitely when such a control exists. When such a…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

Intersections are hazardous places. Threats arise from interactions among pedestrians, bicycles and vehicles, more complicated vehicle trajectories in the absence of lane markings, phases that prevent determining who has the right of way,…

We present a real-time safety filter for motion planning, including those that are learning-based, using Control Barrier Functions (CBFs) to provide formal guarantees for collision avoidance with road boundaries. A key feature of our…

The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…

This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…

The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…

Connected Autonomous Vehicles will make autonomous intersection management a reality replacing traditional traffic signal control. Autonomous intersection management requires time and speed adjustment of vehicles arriving at an intersection…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

Reference tracking and obstacle avoidance rank among the foremost challenging aspects of autonomous driving. This paper proposes control designs for solving reference tracking problems in autonomous driving tasks while considering static…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

We investigate the problem of coordinating multiple automated vehicles (AVs) in confined areas. This problem can be formulated as an optimal control problem (OCP) where the motion of the AVs is optimized such that collisions are avoided in…