相关论文: Multi-Vehicle Trajectory Planning at V2I-enabled I…

Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Traditional single-vehicle intelligence…

Chance-constrained correlated equilibrium enables coordination of noncooperative agents under cost uncertainty through probabilistic incentive-compatibility guarantees. However, computing such equilibria becomes intractable in large-scale…

We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…

Cooperative LiDAR systems integrating vehicles and road infrastructure, termed V2I calibration, exhibit substantial potential, yet their deployment encounters numerous challenges. A pivotal aspect of ensuring data accuracy and consistency…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

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…

Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With…

Correlated Equilibrium (CE) is a well-established solution concept that captures coordination among agents and enjoys good algorithmic properties. In real-world multi-agent systems, in addition to being in an equilibrium, agents' policies…

Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…

When a vehicle drives on the road, its behaviors will be affected by surrounding vehicles. Prediction and decision should not be considered as two separate stages because all vehicles make decisions interactively. This paper constructs the…

Instantaneous dynamic equilibrium (IDE) is a standard game-theoretic concept in dynamic traffic assignment in which individual flow particles myopically select en route currently shortest paths towards their destination. We analyze IDE…

Cooperative intelligent transportation systems (ITS) are used by autonomous vehicles to communicate with surrounding autonomous vehicles and roadside units (RSU). Current C-ITS applications focus primarily on real-time information sharing,…

This paper considers the problem of scheduling autonomous vehicles in intersections. A new system is proposed that could be an additional choice to the recently introduced Autonomous Intersection Management (AIM) model. The proposed system…

A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…

In this paper, we focus on improving autonomous driving safety via task offloading from cellular vehicles (CVs), using vehicle-to-infrastructure (V2I) links, to an multi-access edge computing (MEC) server. Considering that the frequencies…

We consider the problem of computing Nash equilibria in potential games where each player's strategy set is subject to private uncoupled constraints. This scenario is frequently encountered in real-world applications like road network…

Cooperative Intelligent Transportation Systems (C-ITS) constitute technologies which enable vehicles to communicate with each other and with road infrastructure. Verification or testing is required for C-ITS applications, in order to assess…