In this paper, a novel methodology is proposed to solve a cooperative multi-depot vehicle routing problem. We establish a mathematical model for multi-owner VRP in which each owner (i.e. player) manages single or multiple depots. The basic idea consists of offering an option that owners cooperatively manage the VRP to save their costs. We present cooperative game theory techniques for cost savi...

A neural network model reference adaptive controller for trajectory tracking of nonlinear systems is developed. The proposed control algorithm uses a single layer neural network that bypasses the need for information about the system’s dynamic structure and characteristics and provides portability. Numerical simulations are performed using nonlinear dynamic models of marine vehicles. Results ar...

Due to the satellite signals are blocked, it is difficult obtain vehicle position in tunnels. We propose a single-site localization scheme for rectangular tunnel environment, where most satellite-based positioning methods can not provide required accuracy. In non-line-of-sight (NLOS) scenarios, we make use of reflection paths as assistants positioning. Specifically, first, virtual stations esta...

This paper presents a learning-based vehicle control system capable of navigating autonomously. Our approach is based on image processing, road and navigable area recognition, template matching classification for navigation control, and trajectory selection based on GPS way-points. The vehicle follows a trajectory defined by GPS points avoiding obstacles using a single monocular camera and main...

Vehicle modelling and simulation is becoming a key competence for the development of the electrified vehicle systems, from preliminary designs to implementation and validation phases. Usually different vehicle models are used in design phases, leading to lack of traceability and robustness in the design process. An integrated approach is presented in order to allow automotive engineers to use a...

This paper describes the steering controller of the CajunBot II, an autonomous vehicle designed for the DARPA Urban Challenge. The autonomous vehicle is a modified Jeep Wrangler Rubicon equipped with INS/GPS for localization, three sets of sensors and three single board computers. The control objective is to make the lateral error at a certain point ahead of the vehicle zero. The distance of th...

Vehicle routing problems attempt to define optimal delivery methods of goods to places. I examined the capacitated vehicle routing problem that determines the least cost route to deliver objects to customers using a single vehicle of fixed capacity. Vehicle routing problems attract considerable attention because of their implications for delivery businesses. My variant of the problem differs fr...