相关论文: DMAVA: Distributed Multi-Autonomous Vehicle Archit…
Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…
Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules,…
In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with surrounding human-driven vehicles (HDVs). This paper introduces MSH-MCCT (Multi-Source Human-in-the-Loop Mixed Cloud Control…
This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
The performance and safety of autonomous vehicles (AVs) deteriorates under adverse environments and adversarial actors. The investment in multi-sensor, multi-agent (MSMA) AVs is meant to promote improved efficiency of travel and mitigate…
Autonomous vehicles (AVs) are being rapidly introduced into our lives. However, public misunderstanding and mistrust have become prominent issues hindering the acceptance of these driverless technologies. The primary objective of this study…
Autonomous driving is a complex undertaking. A common approach is to break down the driving task into individual subtasks through modularization. These sub-modules are usually developed and published separately. However, if these…
Full-stack autonomous driving system spans diverse technological domains-including perception, planning, and control-that each require in-depth research. Moreover, validating such technologies of the system necessitates extensive supporting…
Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious…
We present OpenDriveVLA, a Vision Language Action model designed for end-to-end autonomous driving, built upon open-source large language models. OpenDriveVLA generates spatially grounded driving actions by leveraging multimodal inputs,…
Modular construction, involving off-site prefabrication and on-site assembly, offers significant advantages but presents complex coordination challenges for robotic automation. Effective task allocation is critical for leveraging…
We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central…
Testing autonomous driving algorithms on real autonomous vehicles is extremely costly and many researchers and developers in the field cannot afford a real car and the corresponding sensors. Although several free and open-source autonomous…
This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
Parallel self-assembly is an efficient approach to accelerate the assembly process for modular robots. However, these approaches cannot accommodate complicated environments with obstacles, which restricts their applications. This paper…