相关论文: Autonomous Highway Merging in Mixed Traffic Using …
Reinforcement learning (RL) is currently one of the most prominent methods for optimizing dynamical systems, with breakthrough results across various fields. The framework is based on the concept of a Markov decision process (MDP), leading…
In this article, we explore the technical details of the reinforcement learning (RL) algorithms that were deployed in the largest field test of automated vehicles designed to smooth traffic flow in history as of 2023, uncovering the…
Air transportation is undergoing a rapid evolution globally with the introduction of Advanced Air Mobility (AAM) and with it comes novel challenges and opportunities for transforming aviation. As AAM operations introduce increasing…
A platoon refers to a group of vehicles traveling together in very close proximity using automated driving technology. Owing to its immense capacity to improve fuel efficiency, driving safety, and driver comfort, platooning technology has…
Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon…
Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require large amounts of expensive data collection and even then face…
Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…
Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver…
Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…
Connected and Automated Vehicles (CAVs), in particular those with multiple power sources, have the potential to significantly reduce fuel consumption and travel time in real-world driving conditions. In particular, the Eco-driving problem…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Urban traffic congestion is a critical predicament that plagues modern road networks. To alleviate this issue and enhance traffic efficiency, traffic signal control and vehicle routing have proven to be effective measures. In this paper, we…
Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…
The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…
Initial DR studies mainly adopt model predictive control and thus require accurate models of the control problem (e.g., a customer behavior model), which are to a large extent uncertain for the EV scenario. Hence, model-free approaches,…
Our research investigates the challenges Deep Reinforcement Learning (DRL) faces in complex, Partially Observable Markov Decision Processes (POMDP) such as autonomous driving (AD), and proposes a solution for vision-based navigation in…
Autonomous agents that drive on roads shared with human drivers must reason about the nuanced interactions among traffic participants. This poses a highly challenging decision making problem since human behavior is influenced by a multitude…
Deep Reinforcement Learning (DRL) enhances the efficiency of Autonomous Vehicles (AV), but also makes them susceptible to backdoor attacks that can result in traffic congestion or collisions. Backdoor functionality is typically incorporated…
Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…
Merging into the highway from the on-ramp is an essential scenario for automated driving. The decision-making under the scenario needs to balance the safety and efficiency performance to optimize a long-term objective, which is challenging…