相关论文: Multi-Vehicle Trajectory Planning at V2I-enabled I…
This paper investigates the downlink scheduling for relay-aided high-mobility vehicular networks, where the vehicles with good vehicle-to-infrastructure (V2I) links are employed as cooperative relay nodes to help the ones with poor V2I…
Correlated Equilibrium is a solution concept that is more general than Nash Equilibrium (NE) and can lead to outcomes with better social welfare. However, its natural extension to the sequential setting, the \textit{Extensive Form…
Understanding the intentions of drivers at intersections is a critical component for autonomous vehicles. Urban intersections that do not have traffic signals are a common epicentre of highly variable vehicle movement and interactions. We…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
Urban vehicle-to-vehicle (V2V) link scheduling with shared spectrum is a challenging problem. Its main goal is to find the scheduling policy that can maximize system performance (usually the sum capacity of each link or their energy…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
End-to-end autonomous driving (E2EAD) systems, which learn to predict future trajectories directly from sensor data, are fundamentally challenged by the inherent spatio-temporal imbalance of trajectory data. This imbalance creates a…
Existing traffic simulation frameworks for autonomous vehicles typically rely on imitation learning or game-theoretic approaches that solve for Nash or coarse correlated equilibria, implicitly assuming perfectly rational agents. However,…
This paper addresses a class of Nash equilibrium (NE) seeking problems in coalition games involving both local and coupling constraints for multiple Euler-Lagrange (EL) systems subject to disturbances of unknown bounds. Within each…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
On-ramp merging presents a critical challenge in autonomous driving, as vehicles from merging lanes need to dynamically adjust their positions and speeds while monitoring traffic on the main road to prevent collisions. To address this…
Coordination in multiplayer games enables players to avoid the lose-lose outcome that often arises at Nash equilibria. However, designing a coordination mechanism typically requires the consideration of the joint actions of all players,…
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…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
To facilitate effective, safe deployment in the real world, individual robots must reason about interactions with other agents, which often occur without explicit communication. Recent work has identified game theory, particularly the…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Collaborative virtual queueing has been proposed as a mechanism to mitigate airport surface congestion while preserving airline autonomy over aircraft-level pushback decisions. A central coordinator can regulate aggregate pushback capacity…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Computing Nash equilibria of zero-sum games in classical and quantum settings is extensively studied. For general-sum games, computing Nash equilibria is PPAD-hard and the computing of a more general concept called correlated equilibria has…