相关论文: An algorithm for dynamic vehicle-track-structure i…
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…
We develop data-driven dynamical models of the nonlinear aeroelastic effects on a long-span suspension bridge from sparse, noisy sensor measurements which monitor the bridge. Using the {\em sparse identification of nonlinear dynamics}…
One of the major challenges for autonomous vehicles in urban environments is to understand and predict other road users' actions, in particular, pedestrians at the point of crossing. The common approach to solving this problem is to use the…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
A novel combination of established data analysis techniques for reconstructing all charged-particle tracks in high energy collisions is proposed. It uses all information available in a collision event while keeping competing choices open as…
Dedicated short-range communication (DSRC) enables vehicular communication using periodic broadcast messages. We propose to use these periodic broadcasts to perform inter-vehicle ranging. Motivated by this scenario, we study the general…
Intelligent Transportation Systems (ITS) have attracted the attention of researchers and the general public alike as a means to alleviate traffic congestion. Recently, the maturity of wireless technology has enabled a cost-efficient way to…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
In this article, we formulate a monolithic optimal control method for general time-dependent Fluid-Structure Interaction (FSI) systems with large solid deformation. We consider a displacement-tracking type of objective with a constraint of…
Physical human-robot interaction has been an area of interest for decades. Collaborative tasks, such as joint compliance, demand high-quality joint torque sensing. While external torque sensors are reliable, they come with the drawbacks of…
In recent years, there has been a significant amount of research on algorithms and control methods for distributed collaborative robots. However, the emergence of collective behavior in a swarm is still difficult to predict and control.…
In complex real-world traffic environments, autonomous vehicles (AVs) need to interact with other traffic participants while making real-time and safety-critical decisions accordingly. The unpredictability of human behaviors poses…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Multibody simulation with frictional contact has been a challenging subject of research for the past thirty years. Rigid-body assumptions are commonly used to approximate the physics of contact, and together with Coulomb friction, lead to…
Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex…
The simulation-based testing is essential for safely implementing autonomous vehicles (AV) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a…
Dynamic conditional correlation (DCC) is a method that estimates the correlation between two time series across time. Although used primarily in finance so far, DCC has been proposed recently as a model-based estimation method for…
In this paper, we document design and a prototype implementation of a computational method for an onboard prediction of a breaking distance for a city rail vehicle|a tram. The method is based on an onboard simulation of tram braking…
Perception is a key component of Automated vehicles (AVs). However, sensors mounted to the AVs often encounter blind spots due to obstructions from other vehicles, infrastructure, or objects in the surrounding area. While recent…