相关论文: An Approximate Dynamic Programming Approach to Veh…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival…

Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However,…

Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…

In this work, we face the issue of achieving an efficient dynamic mapping in vehicular networking scenarios, i.e., to obtain an accurate estimate of the positions and trajectories of connected vehicles in a certain area. State of the art…

This paper studies a finite-horizon Markov decision problem with information-theoretic constraints, where the goal is to minimize directed information from the controlled source process to the control process, subject to stage-wise cost…

Efficient use of multiple batteries is a practical problem with wide and growing application. The problem can be cast as a planning problem under uncertainty. We describe the approach we have adopted to modelling and solving this problem,…

Platooning strategy is an important part of autonomous driving technology. Due to the limited resource of autonomous vehicles in platoons, mobile edge computing (MEC) is usually used to assist vehicles in platoons to obtain useful…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

We study the optimal transport problem for pairs of stationary finite-state Markov chains, with an emphasis on the computation of optimal transition couplings. Transition couplings are a constrained family of transport plans that capture…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…

Traffic congestion has lead to an increasing emphasis on management measures for a more efficient utilization of existing infrastructure. In this context, this paper proposes a novel framework that integrates real-time optimization of…

Recently significant progress has been made in vehicle prediction and planning algorithms for autonomous driving. However, it remains quite challenging for an autonomous vehicle to plan its trajectory in complex scenarios when it is…

This study presents optimization problems to jointly determine long-term network design, mid-term fleet sizing strategy, and short-term routing and ridesharing matching in shared autonomous vehicle (SAV) systems with pre-booked and…

An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

Cooperative adaptive cruise control (CACC) has been recognized as a fundamental function of autonomous driving, in which platoon stability and energy efficiency are outstanding challenges that are difficult to accommodate in real-world…

In this paper we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination…