相关论文: Cooperative Vehicle Speed Fault Diagnostics and Co…
The large-scale deployment of automated vehicles on public roads has the potential to vastly change the transportation modalities of today's society. Although this pursuit has been initiated decades ago, there still exist open challenges in…
The ability to model and predict ego-vehicle's surrounding traffic is crucial for autonomous pilots and intelligent driver-assistance systems. Acceleration prediction is important as one of the major components of traffic prediction. This…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to…
Single time-scale distributed estimation of dynamic systems via a network of sensors/estimators is addressed in this letter. In single time-scale distributed estimation, the two fusion steps, consensus and measurement exchange, are…
Recent advancements in Connected Vehicle (CV) technology have prompted research on leveraging CV data for more effective traffic management. Despite the low penetration rate, such detailed CV data has demonstrated great potential in…
This paper studies the fundamental communication properties of urban vehicle networks by exploiting the self-similarity and hierarchical organization of modern cities. We use an innovative model called "hyperfractal" that captures the…
The recent proliferation of computing technologies (e.g., sensors, computer vision, machine learning, and hardware acceleration), and the broad deployment of communication mechanisms (e.g., DSRC, C-V2X, 5G) have pushed the horizon of…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor-actuator-agents observe a dynamic process and sporadically exchange their measurements and inputs…
In this paper, we design distributed multi-modal localization approaches for Connected and Automated vehicles. We utilize information diffusion on graphs formed by moving vehicles, based on Adapt-then-Combine strategies combined with the…
We perform an extensive study of cooperative awareness in vehicular communication based on periodic message exchange. We start by analyzing measurements collected on four test sites across Europe. To measure cooperative awareness, we use…
This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the…
Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…
Machine Learning has proven useful in the recent years as a way to achieve failure prediction for industrial systems. However, the high computational resources necessary to run learning algorithms are an obstacle to its widespread…
In this paper, we address the problem of controlling a network of mobile sensors so that a set of hidden states are estimated up to a user-specified accuracy. The sensors take measurements and fuse them online using an Information Consensus…
Stream media content caching is a key enabling technology to promote the value chain of future urban vehicular networks. Nevertheless, the high mobility of vehicles, intermittency of information transmissions, high dynamics of user…
We present in this paper a method to estimate urban traffic state with communicating vehicles. Vehicles moving on the links of the urban road network form queues at the traffic lights. We assume that a proportion of vehicles are equipped…
Cooperative automated vehicles exchange information to assist each other in creating a more precise and extended view of their surroundings, with the aim of improving automated-driving decisions. This paper addresses the need for scalable…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…