相关论文: Preemptive Holistic Collaborative System and Its A…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of human drivers may compromise the efficiency, optimality, and…
Cooperative driving relies on communication among vehicles to create situational awareness. One application of cooperative driving is Cooperative Adaptive Cruise Control (CACC) that aims at enhancing highway transportation safety and…
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic…
Deep learning is a key approach for the environment perception function of Cooperative Intelligent Transportation Systems (C-ITS) with autonomous vehicles and smart traffic infrastructure. In today's C-ITS, smart traffic participants are…
We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…
Autonomous Vehicles (AVs) rely on individual perception systems to navigate safely. However, these systems face significant challenges in adverse weather conditions, complex road geometries, and dense traffic scenarios. Cooperative…
In this paper, we investigate the coordination of vehicle maneuvers in mixed-traffic corridors where connected and automated vehicles, human-driven vehicles, and buses interact under dedicated bus lane operations. We develop a segment-based…
To maximize safety and driving comfort, autonomous driving systems can benefit from implementing foresighted action choices that take different potential scenario developments into account. While artificial scene prediction methods are…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Multi-vehicle autonomous driving couples strategic interaction with hybrid (discrete-continuous) maneuver planning under shared safety constraints. We introduce IBR-GCS, an Iterative Best Response (IBR) planning approach based on the Graphs…
Cooperative intelligent freeway traffic control is an important application in intelligent transportation systems, which is expected to improve the mobility of freeway networks. In this paper, we propose a deep neuroevolution model, called…
The autonomous driving industry is rapidly advancing, with Vehicle-to-Vehicle (V2V) communication systems highlighting as a key component of enhanced road safety and traffic efficiency. This paper introduces a novel Real-time…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
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…
Predicting risk map of traffic accidents is vital for accident prevention and early planning of emergency response. Here, the challenge lies in the multimodal nature of urban big data. We propose a compact neural ensemble model to alleviate…
Complex systems are ubiquitous in the real world and tend to have complicated and poorly understood dynamics. For their control issues, the challenge is to guarantee accuracy, robustness, and generalization in such bloated and troubled…