相关论文: A COLREGs-Compliant Conflict Resolution Strategy f…
We propose ComDrive: the first comfort-oriented end-to-end autonomous driving system to generate temporally consistent and comfortable trajectories. Recent studies have demonstrated that imitation learning-based planners and learning-based…
To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…
This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…
Autonomous Surface Vehicles (ASVs) provide an effective way to actualize applications such as environment monitoring, search and rescue, and scientific researches. However, the conventional ASVs depends overly on the stored energy. Hybrid…
We present a novel algorithm for computing collision-free navigation for heterogeneous road-agents such as cars, tricycles, bicycles, and pedestrians in dense traffic. Our approach currently assumes the positions, shapes, and velocities of…
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…
Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
Robotic agents performing domestic chores by natural language directives are required to master the complex job of navigating environment and interacting with objects in the environments. The tasks given to the agents are often composite…
This paper presents a novel solution to address the challenges in achieving energy efficiency and cooperation for collision avoidance in UAV swarms. The proposed method combines Artificial Potential Field (APF) and Particle Swarm…
We propose an efficient motion planning method designed to efficiently find collision-free trajectories for multiple manipulators. While multi-manipulator systems offer significant advantages, coordinating their motions is computationally…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
Automated maritime collision avoidance will rely on human supervision for the foreseeable future. This necessitates transparency into how the system perceives a scenario and plans a maneuver. However, the causal logic behind avoidance…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
Connected and automated vehicles (CAVs) are viewed as a special kind of robots that have the potential to significantly improve the safety and efficiency of traffic. In contrast to many swarm robotics studies that are demonstrated in labs…
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for…
On-ramp merging areas are deemed to be typical bottlenecks for freeway networks due to the intensive disturbances induced by the frequent merging, weaving, and lane-changing behaviors. The Connected and Autonomous Vehicles (CAVs), benefited…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
In mixed-traffic environments, autonomous vehicles must adapt to human-controlled vehicles and other unusual driving situations. This setting can be framed as a multi-agent reinforcement learning (MARL) environment with full cooperative…