相关论文: Cyclops: Open Platform for Scale Truck Platooning
Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts.…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
In this paper, we propose a conceptual framework where a centralized system, classifies the road based upon the level of damage. The centralized system also identifies the traffic intensity thereby prioritizing the roads that need quick…
This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…
With the advent of self-driving cars and autonomous robots, it is imperative to detect road impairments like cracks and potholes and to perform necessary evading maneuvers to ensure fluid journey for on-board passengers or equipment. We…
In this paper, we investigate improving the perception performance of autonomous vehicles through communication with other vehicles and road infrastructures. To this end, we introduce a novel collaborative perception architecture, called…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
As an essential component of logistics automation, the automated loading system is becoming a critical technology for enhancing operational efficiency and safety. Precise automatic positioning of the truck compartment, which serves as the…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collision avoidance either (a) in a centralized setting, or (b) in…
Autonomous vehicle safety and reliability are the paramount requirements when developing autonomous vehicles. These requirements are guaranteed by massive functional and performance tests. Conducting these tests on real vehicles is…
3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…
Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure…
Cooperative overtaking is believed to have the capability of improving road safety and traffic efficiency by means of the real-time information exchange between traffic participants, including road infrastructures, nearby vehicles and…
Accurate sensor-to-vehicle calibration is essential for safe autonomous driving. Angular misalignments of LiDAR sensors can lead to safety-critical issues during autonomous operation. However, current methods primarily focus on correcting…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Accurate, scalable traffic monitoring is critical for real-time and long-term transportation management, particularly during disruptions such as natural disasters, large construction projects, or major policy changes like New York City's…
This study proposes a coordinated ramp metering control framework in large networks based on scalable nonlinear traffic dynamics model discovery. Existing coordinated ramp metering control methods often require accurate traffic dynamics…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…