相关论文: Layered Cost-Map-Based Traffic Management for Mult…
The continual assurance of safety and performance of automated driving systems (ADSs) poses significant challenges. ADSs operate in complex, dynamic, open-world environments allowing a wide range of scenarios, including ones that are rare…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
Multiple automakers have in development or in production automated driving systems (ADS) that offer freeway-pilot functions. This type of ADS is typically limited to restricted-access freeways only, that is, the transition from manual to…
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…
As a typical vehicle-cyber-physical-system (V-CPS), connected automated vehicles attracted more and more attention in recent years. This paper focuses on discussing the decision-making (DM) strategy for autonomous vehicles in a connected…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Unmanned aerial vehicles (UAVs) have been widely adopted in various real-world applications. However, the control and optimization of multi-UAV systems remain a significant challenge, particularly in dynamic and constrained environments.…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Safe navigation is essential for autonomous systems operating in hazardous environments, especially when multiple agents must coordinate using only high-dimensional visual observations. While recent approaches successfully combine…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
Supporting ultra-reliable low-latency communications (URLLC) is a major challenge of 5G wireless networks. Stringent delay and reliability requirements need to be satisfied for both scheduled and non-scheduled URLLC traffic to enable a…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Connected Autonomous Vehicles will make autonomous intersection management a reality replacing traditional traffic signal control. Autonomous intersection management requires time and speed adjustment of vehicles arriving at an intersection…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We describe a novel approach for computing collision-free \emph{global} trajectories for $p$ agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM).…
Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically decompose the problem into parallel…
Effective traffic optimization strategies can improve the performance of transportation networks significantly. Most exiting works develop traffic optimization strategies depending on the local traffic states of congested road segments,…
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of unknown space. Building on recent work in…
This paper investigates the problem of resource allocation for joint communication and radar sensing system on rate-splitting multiple access (RSMA) based unmanned aerial vehicle (UAV) system. UAV simultaneously communicates with multiple…