相关论文: A Distributed Approach to Autonomous Intersection …

We consider the problem of multi-agent navigation and collision avoidance when observations are limited to the local neighborhood of each agent. We propose InforMARL, a novel architecture for multi-agent reinforcement learning (MARL) which…

As travel demand increases and urban traffic condition becomes more complicated, applying multi-agent deep reinforcement learning (MARL) to traffic signal control becomes one of the hot topics. The rise of Reinforcement Learning (RL) has…

Traffic congestion remains a significant challenge in modern urban networks. Autonomous driving technologies have emerged as a potential solution. Among traffic control methods, reinforcement learning has shown superior performance over…

Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…

As Intelligent Transportation System (ITS) develops, Connected and Automated Vehicles (CAVs) are expected to significantly reduce traffic congestion through cooperative strategies, such as in bottleneck areas. However, the uncertainty and…

It is expected that autonomous vehicles(AVs) and heterogeneous human-driven vehicles(HVs) will coexist on the same road. The safety and reliability of AVs will depend on their social awareness and their ability to engage in complex social…

Autonomous car racing is a challenging task in the robotic control area. Traditional modular methods require accurate mapping, localization and planning, which makes them computationally inefficient and sensitive to environmental changes.…

Decision-making module enables autonomous vehicles to reach appropriate maneuvers in the complex urban environments, especially the intersection situations. This work proposes a deep reinforcement learning (DRL) based left-turn…

Over the years, reinforcement learning has emerged as a popular approach to develop signal control and vehicle platooning strategies either independently or in a hierarchical way. However, jointly controlling both in real-time to alleviate…

Intelligent transportation systems require connected and automated vehicles (CAVs) to conduct safe and efficient cooperation with human-driven vehicles (HVs) in complex real-world traffic environments. However, the inherent unpredictability…

Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…

Multi-agent reinforcement learning (MARL) has long been a significant and everlasting research topic in both machine learning and control. With the recent development of (single-agent) deep RL, there is a resurgence of interests in…

Unsignalized intersections pose significant safety and efficiency challenges due to complex traffic flows. This paper proposes a novel roadside unit (RSU)-centric cooperative driving system leveraging global perception and…

With wireless devices increasingly forming a unified smart network for seamless, user-friendly operations, random access (RA) medium access control (MAC) design is considered a key solution for handling unpredictable data traffic from…

This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves…

Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…

Multi-Agent Reinforcement Learning (MARL) holds significant promise for enabling cooperative driving among Connected and Automated Vehicles (CAVs). However, its practical application is hindered by a critical limitation, i.e., insufficient…

Search and Rescue (SAR) missions in remote environments often employ autonomous multi-robot systems that learn, plan, and execute a combination of local single-robot control actions, group primitives, and global mission-oriented…

Traffic congestion in modern cities is exacerbated by the limitations of traditional fixed-time traffic signal systems, which fail to adapt to dynamic traffic patterns. Adaptive Traffic Signal Control (ATSC) algorithms have emerged as a…

In this paper, we introduce an alternative approach to enhancing Multi-Agent Reinforcement Learning (MARL) through the integration of domain knowledge and attention-based policy mechanisms. Our methodology focuses on the incorporation of…