相关论文: Approximate Dynamic Programming for Platoon Coordi…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

It is known that autonomous cars can increase road capacities by maintaining a smaller headway through vehicle platooning. Recent works have shown that these capacity increases can influence vehicles' route choices in unexpected ways…

In this paper, we study a controllable tandem queueing system consisting of two nodes and a controller, in which customers arrive according to a Poisson process and must receive service at both nodes before leaving the system. A decision…

The time-varying feature of wireless channels usually makes the hard delay bound for data transmissions unrealistic to guarantee. In contrast, the statistically-bounded delay with a small violation probability has been widely used for delay…

This paper presents a time-constrained model predictive control strategy for the six degree-of-freedom autonomous rendezvous, proximity, operations and docking problem between a controllable "deputy" satellite and an uncontrolled "chief"…

In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…

This paper studies the vehicle platooning system based on vehicle-to-infrastructure (V2I) communication, where all the vehicles in the platoon upload their driving state information to the roadside unit (RSU), and RSU makes the platoon…

Traditionally, research focusing on the design of routing and staffing policies for service systems has modeled servers as having fixed (possibly heterogeneous) service rates. However, service systems are generally staffed by people.…

We present a queuing model of parking dynamics and a model-based prediction method to provide real-time probabilistic forecasts of future parking occupancy. The queuing model has a non-homogeneous arrival rate and time-varying service time…

Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…

The paper proposes a method for the correct by design coordination of autonomous driving systems (ADS). It builds on previous results on collision avoidance policies and the modeling of ADS by combining descriptions of their static…

The technology-enabled ride-pooling (RP) is designed as an on-demand feeder service to connect remote areas to transit terminals (or activity centers). We propose the so-called ``hold-dispatch'' operation strategy, which imposes a target…

This paper studies the problem of congestion control and scheduling in ad hoc wireless networks that have to support a mixture of best-effort and real-time traffic. Optimization and stochastic network theory have been successful in…

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…

In a self-driving environment, vehicles communicate with each other to create a closely spaced multiple vehicle strings on a highway, i.e., high-density vehicle platooning (HDVP). In this paper, we address the Cellular Vehicle to Everything…

Wide implementation of IEEE 802.11 based networks could lead to deployment of localized wireless data communication environments with a limited number of mobile hosts, called ad hoc networks. Implementation of a proper routing methodology…

In this paper, we consider a dynamic equilibrium transportation problem. There is a fixed number of cars moving from origin to destination areas. Preferences for arrival times are expressed as a cost of arriving before or after the…