相关论文: Cooperative Vehicle Speed Fault Diagnostics and Co…

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…

In this paper, we propose a distributed state-and-fault estimation scheme for multi-agent systems. The proposed estimator is based on an $\ell_1$-norm optimization problem, which is inspired by sparse signal recovery in the field of…

Vehicular communications networks (VANETs) enable information exchange among vehicles, other end devices and public networks, which plays a key role in road safety/infotainment, intelligent transportation system, and self-driving system. As…

A rise in popularity of Deep Neural Networks (DNNs), attributed to more powerful GPUs and widely available datasets, has seen them being increasingly used within safety-critical domains. One such domain, self-driving, has benefited from…

We consider a distributed estimation method in a setting with heterogeneous streams of correlated data distributed across nodes in a network. In the considered approach, linear models are estimated locally (i.e., with only local data)…

As connected and autonomous driving technologies advance, vehicles increasingly rely on data from external sensors. Although this information can enhance state estimation, processing all available streams imposes significant communication…

We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…

In a carsharing system, a fleet of cars is distributed at stations in an urban area, customers can take and return cars at any time and station. For operating such a system in a satisfactory way, the stations have to keep a good ratio…

This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…

As the popularity of autonomous vehicles has grown, many standards and regulators, such as ISO, NHTSA, and Euro NCAP, require safety validation to ensure a sufficient level of safety before deploying them in the real world. Manufacturers…

How to realize high-level autonomy of individuals is one of key technical issues to promote swarm intelligence of multi-agent (node) systems with collective tasks, while the fully distributed design is a potential way to achieve this goal.…

This paper focuses on the distributed static estimation problem and a Belief Propagation (BP) based estimation algorithm is proposed. We provide a complete analysis for convergence and accuracy of it. More precisely, we offer conditions…

Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…

A key functionality of emerging connected autonomous systems such as smart cities, smart transportation systems, and the industrial Internet-of-Things, is the ability to process and learn from data collected at different physical locations.…

In the last four years, the number of distinct autonomous vehicles platforms deployed in the streets of California increased 6-fold, while the reported accidents increased 12-fold. This can become a trend with no signs of subsiding as it is…

This paper investigates the distributed Kalman filter (DKF) for linear systems, with specific attention on measurement fusion, which is a typical way of information sharing and is vital for enhancing stability and improving estimation…

This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…

Speed advisory systems for connected vehicles rely on the estimation of green (or red) light duration at signalized intersections. A particular challenge is to predict the signal phases of semi- and fully-actuated traffic lights. In this…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Vehicle Ad-hoc Networks (VANETs) act as the core of vehicular communications and provide the fundamental wireless communication architecture to support both vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication.…