相关论文: Elevated LiDAR Placement under Energy and Throughp…

Localization for autonomous vehicles on highways remains under-explored compared to urban roads, and state-of-the-art methods for urban scenes degrade when directly applied to highways. We identify key challenges including environment…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

In response to climate goals, growing environmental awareness, and financial incentives, municipalities increasingly seek to electrify public transportation networks. We study the problem of locating stationary and dynamic inductive…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

In this paper, the optimization of deploying unmanned aerial vehicles (UAVs) over a reconfigurable intelligent surfaces (RISs)-assisted visible light communication (VLC) system is studied. In the considered model, UAVs are required to…

In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…

We study the problem of routing vehicles with energy constraints through a network where there are at least some charging nodes. We seek to minimize the total elapsed time for vehicles to reach their destinations by determining routes as…

In a level-5 autonomous driving system, the autonomous driving vehicles (AVs) are expected to sense the surroundings via analyzing a large amount of data captured by a variety of onboard sensors in near-real-time. As a result, enormous…

This paper introduces an energy-efficient, software-defined vehicular edge network for the growing intelligent connected transportation system. A joint user-centric virtual cell formation and resource allocation problem is investigated to…

LiDAR (short for "Light Detection And Ranging" or "Laser Imaging, Detection, And Ranging") technology can be used to provide detailed three-dimensional elevation maps of urban and rural landscapes. To date, airborne LiDAR imaging has been…

We study the routing problem for vehicles with limited energy through a network of inhomogeneous charging nodes. This is substantially more complicated than the homogeneous node case studied in [1]. We seek to minimize the total elapsed…

Velocity limit (VL) has been widely adopted in many variants of particle swarm optimization (PSO) to prevent particles from searching outside the solution space. Several adaptive VL strategies have been introduced with which the performance…

Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…

Particle swarm optimization (PSO) is a search algorithm based on stochastic and population-based adaptive optimization. In this paper, a pathfinding strategy is proposed to improve the efficiency of path planning for a broad range of…

We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…

Occupancy prediction aims to estimate the 3D spatial distribution of occupied regions along with their corresponding semantic labels. Existing vision-based methods perform well on daytime benchmarks but struggle in nighttime scenarios due…

Imaging system design is a complex, time-consuming, and largely manual process; LiDAR design, ubiquitous in mobile devices, autonomous vehicles, and aerial imaging platforms, adds further complexity through unique spatial and temporal…

We propose a novel real-time LiDAR intensity image-based simultaneous localization and mapping method , which addresses the geometry degeneracy problem in unstructured environments. Traditional LiDAR-based front-end odometry mostly relies…

This paper presents an algorithm based on Particle Swarm Optimization (PSO), adapted for multi-objective optimization problems: the Elitist PSO (MO-ETPSO). The proposed algorithm integrates core strategies from the well-established NSGA-II…

Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…