相关论文: Hierarchical GNN-Based Multi-Agent Learning for Dy…

Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial…

Unmanned aerial vehicles (UAVs) are pivotal for future 6G non-terrestrial networks, yet their high mobility creates a complex coupled optimization problem for beamforming and trajectory design. Existing numerical methods suffer from…

In this paper, we present a learning-based framework that accelerates time- and energy-optimal trajectory planning for connected and automated vehicles (CAVs) using graph neural networks (GNNs). We formulate the multi-agent coordination…

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…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

This paper addresses the challenge of decentralized task allocation within heterogeneous multi-agent systems operating under communication constraints. We introduce a novel framework that integrates graph neural networks (GNNs) with a…

We propose a novel approach to optimize fleet management by combining multi-agent reinforcement learning with graph neural network. To provide ride-hailing service, one needs to optimize dynamic resources and demands over spatial domain.…

Efficient network modeling is essential for resource optimization and network planning in next-generation large-scale complex networks. Traditional approaches, such as queuing theory-based modeling and packet-based simulators, can be…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

This paper investigates the feasibility of human mobility in extreme urban morphologies characterized by high-density vertical structures and linear city layouts. To assess whether agents can navigate efficiently within such unprecedented…

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…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques with substantially elevated intelligence and realism.…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

This study proposes a hybrid deep-learning-metaheuristic framework with a bi-level architecture for road network design problems (NDPs). We train a graph neural network (GNN) to approximate the solution of the user equilibrium (UE) traffic…

Testing and validating Autonomous Vehicle (AV) performance in safety-critical and diverse scenarios is crucial before real-world deployment. However, manually creating such scenarios in simulation remains a significant and time-consuming…

Real-time and precise traffic flow prediction is vital for the efficiency of intelligent transportation systems. Traditional methods often employ graph neural networks (GNNs) with predefined graphs to describe spatial correlations among…

Multi-agent navigation in unknown and cluttered environments has broad applications, yet remains fundamentally challenging. In particular, dense agent-agent and agent-obstacle reactive interactions can exacerbate the inherent competition…

Navigating heterogeneous traffic environments with diverse driving styles poses a significant challenge for autonomous vehicles (AVs) due to their inherent complexity and dynamic interactions. This paper addresses this challenge by…