相关论文: A Predictive Chance Constraint Rebalancing Approac…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…
Approaches for stochastic nonlinear model predictive control (SNMPC) typically make restrictive assumptions about the system dynamics and rely on approximations to characterize the evolution of the underlying uncertainty distributions. For…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
In shared micromobility networks, such as bike-share and scooter-share networks, using trip data to accurately estimate demand in docked and dockless systems is critical to analyzing how the system is operating, such as identifying the…
Bike-sharing systems are a rapidly developing mode of transportation and provide an efficient alternative to passive, motorized personal mobility. The asymmetric nature of bike demand causes the need for rebalancing bike stations, which is…
Bike sharing systems have been widely deployed around the world in recent years. A core problem in such systems is to reposition the bikes so that the distribution of bike supply is reshaped to better match the dynamic bike demand. When the…
This paper aims to combine both economic and network user equilibrium for ride-sourcing and ride-pooling services, while endogenously optimizing the pooling sequence of two origin-destination (OD) pairs. With the growing popularity of…
Recommending routes by their probability of having a rider has long been the goal of conventional route recommendation systems. While this maximizes the platform-specific criteria of efficiency, it results in sub-optimal outcomes with the…
In modern taxi networks, large amounts of taxi occupancy status and location data are collected from networked in-vehicle sensors in real-time. They provide knowledge of system models on passenger demand and mobility patterns for efficient…
On-demand shared mobility is a promising and sustainable transportation approach that can mitigate vehicle externalities, such as traffic congestion and emission. On-demand shared mobility systems require matching of one (one-to-one) or…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
Urban resource scheduling is an important part of the development of a smart city, and transportation resources are the main components of urban resources. Currently, a series of problems with transportation resources such as unbalanced…
This paper presents the coordination of two congestion management instruments - capacity limitation contracts (CLCs) and redispatch contracts (RCs) - as a risk-aware resource allocation problem. We propose that the advantages and drawbacks…
In this paper, we address the stochastic MPC (SMPC) problem for linear systems, subject to chance state constraints and hard input constraints, under unknown noise distribution. First, we reformulate the chance state constraints as…
Electric vehicles (EVs) are being rapidly adopted due to their economic and societal benefits. Autonomous mobility-on-demand (AMoD) systems also embrace this trend. However, the long charging time and high recharging frequency of EVs pose…
The multi-depot vehicle scheduling problem (MDVSP) is a critical planning challenge for transit agencies. We introduce a novel approach to MDVSP by incorporating service reliability through chance-constrained programming (CCP), targeting…
This paper develops a unified modeling framework to capture the equilibrium-state interactions among ride-hailing companies, travelers, and traffic of mixed-autonomy transportation networks. Our framework integrates four interrelated…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
We consider a multi-stage stochastic lot-sizing problem with service level constraints and supplier-driven product substitution. A firm has multiple products and it has the option to meet demand from substitutable products at a cost.…