相关论文: Parallel Parking: Optimal Entry and Minimum Slot D…

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…

The protection of pathways holds immense significance across various domains, including urban planning, transportation, surveillance, and security. This article introduces a groundbreaking approach to safeguarding pathways by employing…

Double parking that often negatively affects traffic operations and safety is not a new phenomenon on urban streets. This study proposes a novel data-driven integrated framework for estimating the actual frequency of double parking so that…

Smooth and safe speed planning is imperative for the successful deployment of autonomous vehicles. This paper presents a mathematical formulation for the optimal speed planning of autonomous driving, which has been validated in…

This paper presents a unified optimization-based path planning approach to efficiently compute locally optimal solutions to advanced path planning problems. The approach is motivated by first showing that a lattice-based path planner can be…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

Discovering an optimal route to the most feasible parking lot has been a matter of concern for any driver which aggravates further during peak hours of the day and at congested places leading to considerable wastage of time and fuel. This…

With the fast development of driving automation technologies, user psychological acceptance of driving automation has become one of the major obstacles to the adoption of the driving automation technology. The most basic function of a…

In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…

We consider the line planning problem in public transport in the Parametric City, an idealized model that captures typical scenarios by a (small) number of parameters. The Parametric City is rotation symmetric, but optimal line plans are…

We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…

We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…

We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…

We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…

The paper represents an algorithm for planning safe and optimal routes for transport facilities with unrestricted movement direction that travel within areas with obstacles. Paper explains the algorithm using a ship as an example of such a…

We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…

In this paper, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate the problem using direct optimal control and exploit the structure to construct a semi-distributed…

In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…