相关论文: Path continuity for multi-wheeled AGVs

Lagrangian formulation of kinematic wave provides a more accurate representation than the most commonly used Eulerian formulation. Furthermore, Lagrangian representation offers a flexibility to study certain traffic phenomena (e.g. capacity…

We derive general sufficient conditions for the existence of c\`adl\`ag and continuous modifications of L\'evy-driven mixed moving average processes. The conditions are explicit and easy to verify and applied to supOU, well-balanced supOU,…

In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…

Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…

Auto manufacturers and research groups are working on autonomous driving for long period and achieved significant progress. Autonomous vehicles (AV) are expected to transform road traffic reduction from current conditions, avoiding…

This paper investigates the mathematical modeling and the stability of multi-lane traffic in the microscopic scale, studying a model based on two interaction terms. To do this we propose simple lane changing conditions and we study the…

A novel paradigm for vehicular traffic in the era of connected and automated vehicles (CAVs) is proposed, which includes two combined principles: lane-free traffic and vehicle nudging, whereby vehicles are "pushing" (from a distance, using…

Trajectory planning is essential for ensuring safe driving in the face of uncertainties related to communication, sensing, and dynamic factors such as weather, road conditions, policies, and other road users. Existing car-following models…

In most modern cities, traffic congestion is one of the most salient societal challenges. Past research has shown that inserting a limited number of autonomous vehicles (AVs) within the traffic flow, with driving policies learned…

This paper serves as an introduction and overview of the potentially useful models and methodologies from artificial intelligence (AI) into the field of transportation engineering for autonomous vehicle (AV) control in the era of mixed…

This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…

Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…

This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…

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…

To help mitigate road congestion caused by the unrelenting growth of traffic demand, many transportation authorities have implemented managed lane policies, which restrict certain freeway lanes to certain types of vehicles. It was…

Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

Autonomous personal mobility vehicles (APMVs) are novel smart mobility devices designed to provide automated individual transportation in indoor or mixed-traffic environments. However, in such environments, frequent pedestrian avoidance…

Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…

Recent works in the robot learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control,…