相关论文: Path continuity for multi-wheeled AGVs

Modeling the dynamics of micro-mobility vehicles (MMV) is becoming increasingly important for training autonomous vehicle systems and building urban traffic simulations. However, mainstream tools rely on variants of the Kinematic Bicycle…

This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…

Recent literature has proved that stable dynamic routing algorithms have solid theoretical foundation that makes them suitable to be implemented in a real protocol, and used in practice in many different operational network contexts. Such…

We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…

Trajectory data mining is crucial for smart city management. However, collecting large-scale trajectory datasets is challenging due to factors such as commercial conflicts and privacy regulations. Therefore, we urgently need trajectory…

While motion planning approaches for automated driving often focus on safety and mathematical optimality with respect to technical parameters, they barely consider convenience, perceived safety for the passenger and comprehensibility for…

Accurately following a geometric desired path in a two-dimensional space is a fundamental task for many engineering systems, in particular mobile robots. When the desired path is occluded by obstacles, it is necessary and crucial to…

Autonomous Vehicles (AVs) have emerged as a promising solution by replacing human drivers with advanced computer-aided decision-making systems. However, for AVs to effectively navigate the road, they must possess the capability to predict…

Stop-and-go waves in road traffic are complex collective phenomena with significant implications for traffic engineering, safety and the environment. Despite decades of research, understanding and controlling these dynamics remains…

Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

Forecasting the long-term future motion of road actors is a core challenge to the deployment of safe autonomous vehicles (AVs). Viable solutions must account for both the static geometric context, such as road lanes, and dynamic social…

In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…

This paper presents a method based on linear programming for trajectory planning of automated vehicles, combining obstacle avoidance, time scheduling for the reaching of waypoints and time-optimal traversal of tube-like road segments.…

Global path planning is the key technology in the design of unmanned surface vehicles. This paper establishes global environment modelling based on electronic charts and hexagonal grids which are proved to be better than square grids in…

In recent decades, society has witnessed significant advancements in emerging mobility systems. These systems refer to transportation solutions that incorporate digital technologies, automation, connectivity, and sustainability to create…

We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…

In this work we deal with the so-called path convexities, defined over special collections of paths. For example, the collection of the shortest paths in a graph is associated with the well-known geodesic convexity, while the collection of…

This paper aims to the conditions of traffic flow evolving to stability and the stability of equilibrium under demand time-varying of traffic networks. The general framework of the evolution of flow dynamics by adopting evolutionary game…

This paper presents a new approach to the modeling of vehicular traffic flows on road networks based on kinetic equations. While in the literature the problem has been extensively studied by means of macroscopic hydrodynamic models, to date…