相关论文: Cooperative constrained motion coordination of net…

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…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…

We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…

High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…

The design of Cooperative Adaptive Cruise Control (CACC) algorithms for vehicle platooning has been extensively investigated, leading to a wide range of approaches with different requirements and performance. Most existing studies evaluate…

In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…

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…

Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…

Modeling mixed-traffic motion and interactions is crucial to assess safety, efficiency, and feasibility of future urban areas. The lack of traffic regulations, diverse transport modes, and the dynamic nature of mixed-traffic zones like…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…

In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…

In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…

This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…