相关论文: Connected Autonomous Vehicle Motion Planning with …
Connected automated vehicles (CAV), which incorporate vehicle-to-vehicle (V2V) communication into their motion planning, are expected to provide a wide range of benefits for individual and overall traffic flow. A frequent constraint or…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
Autonomous driving demands reliable and efficient solutions to closely related problems such as decision-making and motion planning. In this work, decision-making refers specifically to highway lane selection, while motion planning involves…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
Autonomous Vehicle (AV) technology is advancing rapidly, promising a significant shift in road transportation safety and potentially resolving various complex transportation issues. With the increasing deployment of AVs by various…
This article investigates the robustness of vision systems in Connected and Autonomous Vehicles (CAVs), which is critical for developing Level-5 autonomous driving capabilities. Safe and reliable CAV navigation undeniably depends on robust…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…
A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Connected Automated Vehicles (CAVs) offer unparalleled opportunities to revolutionize existing transportation systems. In the near future, CAVs and human-driven vehicles (HDVs) are expected to coexist, forming a mixed traffic system.…
Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
Auto manufacturers and research groups are working on autonomous driving for long period and achieved significant progress. Autonomous vehicles (AV) are expected to transform road traffic reduction from current conditions, avoiding…
The technology of Shared Automated Vehicles (SAVs) has advanced significantly in recent years. However, existing SAV studies primarily focus on the system design while limited studies have examined the impacts of exogenous variables,…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather information about their environment by vehicle-to-vehicle (V2V) communication. In this work, we design an information-sharing-based…
Future Connected and Automated Vehicles (CAVs) will be supervised by cloud-based systems overseeing the overall security and orchestrating traffic flows. Such systems rely on data collected from CAVs across the whole city operational area.…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…