Provably safe and scalable multi-vehicle trajectory planning is an important and urgent problem. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safetycritical systems and has been successfully applied to several smallscale problems. However, a direct application of HJ reachability to multi-vehicle trajectory planning is often intractable due to the “curse of dimensionalit...

vehicle system which is embedded in a multi-product, multi-line, multi-stage flexible manufacturing system. Three different guide path configurations have been developed for this study and the performance of the manufacturing system has been discussed from the perspective of these configurations. The system has been modeled through coloured Petri net method and some of the results are presented...

Simulation is a necessary step to allow the experiment of new multi-vehicle scenarios. In this context, new tools are needed to test and validate the feasibility of the mission, the local and temporal behavior of the vehicles’ controllers and the efficiency of the algorithms used. That’s why we propose Thetis, a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulato...

This CRADA project involved the cooperative research of investigators in ORNL’s Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conduct...

Vehicular Ad hoc NETworks (VANETs) are a major component recently used in the development of Intelligent Transportation Systems (ITSs). VANETs have a highly dynamic and portioned network topology due to the constant and rapid movement of vehicles. Currently, clustering algorithms are widely used as the control schemes to make VANET topology less dynamic for Medium Access Control (MAC), routing ...