5,485 research outputs found

    Al-Robotics team: A cooperative multi-unmanned aerial vehicle approach for the Mohamed Bin Zayed International Robotic Challenge

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    The Al-Robotics team was selected as one of the 25 finalist teams out of 143 applications received to participate in the first edition of the Mohamed Bin Zayed International Robotic Challenge (MBZIRC), held in 2017. In particular, one of the competition Challenges offered us the opportunity to develop a cooperative approach with multiple unmanned aerial vehicles (UAVs) searching, picking up, and dropping static and moving objects. This paper presents the approach that our team Al-Robotics followed to address that Challenge 3 of the MBZIRC. First, we overview the overall architecture of the system, with the different modules involved. Second, we describe the procedure that we followed to design the aerial platforms, as well as all their onboard components. Then, we explain the techniques that we used to develop the software functionalities of the system. Finally, we discuss our experimental results and the lessons that we learned before and during the competition. The cooperative approach was validated with fully autonomous missions in experiments previous to the actual competition. We also analyze the results that we obtained during the competition trials.Unión Europea H2020 73166

    A Complete Framework for a Behavioral Planner with Automated Vehicles: A Car-Sharing Fleet Relocation Approach

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    Currently, research on automated vehicles is strongly related to technological advances to achieve a safe, more comfortable driving process in different circumstances. The main achievements are focused mainly on highway and interurban scenarios. The urban environment remains a complex scenario due to the number of decisions to be made in a restrictive context. In this context, one of the main challenges is the automation of the relocation process of car-sharing in urban areas, where the management of the platooning and automatic parking and de-parking maneuvers needs a solution from the decision point of view. In this work, a novel behavioral planner framework based on a Finite State Machine (FSM) is proposed for car-sharing applications in urban environments. The approach considers four basic maneuvers: platoon following, parking, de-parking, and platoon joining. In addition, a basic V2V communication protocol is proposed to manage the platoon. Maneuver execution is achieved by implementing both classical (i.e., PID) and Model-based Predictive Control (i.e., MPC) for the longitudinal and lateral control problems. The proposed behavioral planner was implemented in an urban scenario with several vehicles using the Carla Simulator, demonstrating that the proposed planner can be helpful to solve the car-sharing fleet relocation problem in cities.This research was funded by the Goberment of the Basque Country (funding no. KK-2021/00123 and IT1726-22) and the European SHOW Project from the Horizon 2020 (funding no. 875530)

    A dynamic ridesharing dispatch and idle vehicle repositioning strategy with integrated transit transfers

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    We propose a ridesharing strategy with integrated transit in which a private on-demand mobility service operator may drop off a passenger directly door-to-door, commit to dropping them at a transit station or picking up from a transit station, or to both pickup and drop off at two different stations with different vehicles. We study the effectiveness of online solution algorithms for this proposed strategy. Queueing-theoretic vehicle dispatch and idle vehicle relocation algorithms are customized for the problem. Several experiments are conducted first with a synthetic instance to design and test the effectiveness of this integrated solution method, the influence of different model parameters, and measure the benefit of such cooperation. Results suggest that rideshare vehicle travel time can drop by 40-60% consistently while passenger journey times can be reduced by 50-60% when demand is high. A case study of Long Island commuters to New York City (NYC) suggests having the proposed operating strategy can substantially cut user journey times and operating costs by up to 54% and 60% each for a range of 10-30 taxis initiated per zone. This result shows that there are settings where such service is highly warranted

    Data-driven Methodologies and Applications in Urban Mobility

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    The world is urbanizing at an unprecedented rate where urbanization goes from 39% in 1980 to 58% in 2019 (World Bank, 2019). This poses more and more transportation demand and pressure on the already at or over-capacity old transport infrastructure, especially in urban areas. Along the same timeline, more data generated as a byproduct of daily activity are being collected via the advancement of the internet of things, and computers are getting more and more powerful. These are shown by the statistics such as 90% of the world’s data is generated within the last two years and IBM’s computer is now processing at the speed of 120,000 GPS points per second. Thus, this dissertation discusses the challenges and opportunities arising from the growing demand for urban mobility, particularly in cities with outdated infrastructure, and how to capitalize on the unprecedented growth in data in solving these problems by ways of data-driven transportation-specific methodologies. The dissertation identifies three primary challenges and/or opportunities, which are (1) optimally locating dynamic wireless charging to promote the adoption of electric vehicles, (2) predicting dynamic traffic state using an enormously large dataset of taxi trips, and (3) improving the ride-hailing system with carpooling, smart dispatching, and preemptive repositioning. The dissertation presents potential solutions/methodologies that have become available only recently thanks to the extraordinary growth of data and computers with explosive power, and these methodologies are (1) bi-level optimization planning frameworks for locating dynamic wireless charging facilities, (2) Traffic Graph Convolutional Network for dynamic urban traffic state estimation, and (3) Graph Matching and Reinforcement Learning for the operation and management of mixed autonomous electric taxi fleets. These methodologies are then carefully calibrated, methodically scrutinized under various performance metrics and procedures, and validated with previous research and ground truth data, which is gathered directly from the real world. In order to bridge the gap between scientific discoveries and practical applications, the three methodologies are applied to the case study of (1) Montgomery County, MD, (2) the City of New York, and (3) the City of Chicago and from which, real-world implementation are suggested. This dissertation’s contribution via the provided methodologies, along with the continual increase in data, have the potential to significantly benefit urban mobility and work toward a sustainable transportation system

    Demand estimation and chance-constrained fleet management for ride hailing

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    In autonomous Mobility on Demand (MOD) systems, customers request rides from a fleet of shared vehicles that can be automatically positioned in response to customer demand. Recent approaches to MOD systems have focused on environments where customers can only request rides through an app or by waiting at a station. This paper develops MOD fleet management approaches for ride hailing, where customers may instead request rides simply by hailing a passing vehicle, an approach of particular importance for campus MOD systems. The challenge for ride hailing is that customer demand is not explicitly provided as it would be with an app, but rather customers are only served if a vehicle happens to be located at the arrival location. This work focuses on maximizing the number of served hailing customers in an MOD system by learning and utilizing customer demand. A Bayesian framework is used to define a novel customer demand model which incorporates observed pedestrian traffic to estimate customer arrival locations with a quantification of uncertainty. An exploration planner is proposed which routes MOD vehicles in order to reduce arrival rate uncertainty. A robust ride hailing fleet management planner is proposed which routes vehicles under the presence of uncertainty using a chance-constrained formulation. Simulation of a real-world MOD system on MIT's campus demonstrates the effectiveness of the planners. The customer demand model and exploration planner are demonstrated to reduce estimation error over time and the ride hailing planner is shown to improve the fraction of served customers in the system by 73% over a baseline exploration approach.Ford-MIT AllianceFord Motor Compan
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