106 citations · 223 across the 28 of their papers we have counts for
29 papers
Invariant Price of Anarchy: a Metric for Welfarist Traffic Control
Ilia Shilov, Mingjia He, Heinrich H. Nax +3
The Price of Anarchy (PoA) is a standard metric for quantifying inefficiency in socio-technical systems, widely used to guide policies like traffic tolling. Conventional PoA analys…
Hierarchical Strategic Decision-Making in Layered Mobility Systems
Mingjia He, Zhiyu He, Jan Ghadamian +3
Mobility systems are complex socio-technical environments influenced by multiple stakeholders with hierarchically interdependent decisions, rendering effective control and policy d…
Co-Investment with Payoff-Sharing Mechanism for Cooperative Decision-Making in Network Design Games
Mingjia He, Andrea Censi, Runyu Zhang +2
Network-based systems are inherently interconnected, with the design and performance of subnetworks being interdependent. However, the decisions of self-interested operators may le…
Test Automation for Interactive Scenarios via Promptable Traffic Simulation
Augusto Mondelli, Yueshan Li, Alessandro Zanardi +1
Autonomous vehicle (AV) planners must undergo rigorous evaluation before widespread deployment on public roads, particularly to assess their robustness against the uncertainty of h…
A Vision for Trustworthy, Fair, and Efficient Socio-Technical Control using Karma Economies
Ezzat Elokda, Andrea Censi, Emilio Frazzoli +2
Control systems will play a pivotal role in addressing societal-scale challenges as they drive the development of sustainable future smart cities. At the heart of these challenges…
Reproducibility in the Control of Autonomous Mobility-on-Demand Systems
Xinling Li, Meshal Alharbi, Daniele Gammelli +7
Autonomous Mobility-on-Demand (AMoD) systems, powered by advances in robotics, control, and Machine Learning (ML), offer a promising paradigm for future urban transportation. AMoD…
CODEI: Resource-Efficient Task-Driven Co-Design of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles
Dejan Milojevic, Gioele Zardini, Miriam Elser +2
This paper discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance sa…
Iterative VCG-based Mechanism Fosters Cooperation in Multi-Regional Network Design
Mingjia He, Yannik Werner, Andrea Censi +2
Transportation network design often involves multiple stakeholders with diverse priorities. We consider a system with a hierarchical multi-agent structure, featuring self-optimized…
To Travel Quickly or to Park Conveniently: Coupled Resource Allocations with Multi-Karma Economies
Ezzat Elokda, Andrea Censi, Saverio Bolognani +2
The large-scale allocation of public resources (e.g., transportation, energy) is among the core challenges of future Cyber-Physical-Human Systems (CPHS). In order to guarantee that…
Co-investment with Payoff Sharing Benefit Operators and Users in Network Design
Mingjia He, Andrea Censi, Emilio Frazzoli +1
Network-based complex systems are inherently interconnected, with the design and performance of subnetworks being interdependent. However, the decisions of self-interested operator…
Optimization of Rulebooks via Asymptotically Representing Lexicographic Hierarchies for Autonomous Vehicles
Matteo Penlington, Alessandro Zanardi, Emilio Frazzoli
A key challenge in autonomous driving is that Autonomous Vehicles (AVs) must contend with multiple, often conflicting, planning requirements. These requirements naturally form in a…
To Spend or to Gain: Online Learning in Repeated Karma Auctions
Damien Berriaud, Ezzat Elokda, Devansh Jalota +3
Recent years have seen a surge of artificial currency-based mechanisms in contexts where monetary instruments are deemed unfair or inappropriate, e.g., in allocating food donations…
Reliability-aware Control of Power Converters in Mobility Applications
Amin Rezaeizadeh, Gioele Zardini, Emilio Frazzoli +1
This paper introduces an automatic control method designed to enhance the operation of electric vehicles, besides the speed tracking objectives, by including reliability and lifeti…
Strategic Interactions in Multi-modal Mobility Systems: A Game-Theoretic Perspective
Gioele Zardini, Nicolas Lanzetti, Giuseppe Belgioioso +4
The evolution of existing transportation systems,mainly driven by urbanization and increased availability of mobility options, such as private, profit-maximizing ride-hailing compa…
A Counterfactual Safety Margin Perspective on the Scoring of Autonomous Vehicles' Riskiness
Alessandro Zanardi, Andrea Censi, Margherita Atzei +2
Autonomous Vehicles (AVs) promise a range of societal advantages, including broader access to mobility, reduced road accidents, and enhanced transportation efficiency. However, eva…
A Learning-based Nonlinear Model Predictive Controller for a Real Go-Kart based on Black-box Dynamics Modeling through Gaussian Processes
Enrico Picotti, Enrico Mion, Alberto Dalla Libera +5
Lately, Nonlinear Model Predictive Control (NMPC)has been successfully applied to (semi-) autonomous driving problems and has proven to be a very promising technique. However, accu…
Factorization of Multi-Agent Sampling-Based Motion Planning
Alessandro Zanardi, Pietro Zullo, Andrea Censi +1
Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent sc…
How Bad is Selfish Driving? Bounding the Inefficiency of Equilibria in Urban Driving Games
Alessandro Zanardi, Pier Giuseppe Sessa, Nando Käslin +3
We consider the interaction among agents engaging in a driving task and we model it as general-sum game. This class of games exhibits a plurality of different equilibria posing the…
Categorification of Negative Information using Enrichment
Andrea Censi, Emilio Frazzoli, Jonathan Lorand +1
In many engineering applications it is useful to reason about "negative information". For example, in planning problems, providing an optimal solution is the same as giving a feasi…
A self-contained karma economy for the dynamic allocation of common resources
Ezzat Elokda, Saverio Bolognani, Andrea Censi +2
This paper presents karma mechanisms, a novel approach to the repeated allocation of a scarce resource among competing agents over an infinite time. Examples include deciding which…
Task-driven Modular Co-design of Vehicle Control Systems
Gioele Zardini, Zelio Suter, Andrea Censi +1
When designing autonomous systems, we need to consider multiple trade-offs at various abstraction levels, and the choices of single (hardware and software) components need to be st…
nuReality: A VR environment for research of pedestrian and autonomous vehicle interactions
Paul Schmitt, Nicholas Britten, JiHyun Jeong +11
We present nuReality, a virtual reality 'VR' environment designed to test the efficacy of vehicular behaviors to communicate intent during interactions between autonomous vehicles…
Formal Estimation of Collision Risks for Autonomous Vehicles: A Compositional Data-Driven Approach
Abolfazl Lavaei, Luigi Di Lillo, Andrea Censi +1
In this work, we propose a compositional data-driven approach for the formal estimation of collision risks for autonomous vehicles (AVs) while acting in a stochastic multi-agent fr…
Posetal Games: Efficiency, Existence, and Refinement of Equilibria in Games with Prioritized Metrics
Alessandro Zanardi, Gioele Zardini, Sirish Srinivasan +4
Modern applications require robots to comply with multiple, often conflicting rules and to interact with the other agents. We present Posetal Games as a class of games in which eac…