1 citations · 3 across the 13 of their papers we have counts for
13 papers
A Mixed-Reality Testbed for Autonomous Vehicles
H. M. Sabbir Ahmad, Ehsan Sabouni, Emrullah Celik +4
We propose a mixed-reality, hardware-in-the-loop (HIL) testbed for autonomous vehicles that seamlessly integrates a physical testbed of mobile robots with a high-fidelity simulatio…
Hierarchical Multi-Agent Reinforcement Learning with Control Barrier Functions for Safety-Critical Autonomous Systems
H. M. Sabbir Ahmad, Ehsan Sabouni, Alexander Wasilkoff +6
We address the problem of safe policy learning in multi-agent safety-critical autonomous systems. In such systems, it is necessary for each agent to meet the safety requirements at…
Robust and Safe Multi-Agent Reinforcement Learning with Communication for Autonomous Vehicles: From Simulation to Hardware
Keshawn Smith, Zhili Zhang, H M Sabbir Ahmad +5
Deep multi-agent reinforcement learning (MARL) has been demonstrated effectively in simulations for multi-robot problems. For autonomous vehicles, the development of vehicle-to-veh…
Reinforcement Learning-based Receding Horizon Control using Adaptive Control Barrier Functions for Safety-Critical Systems
Ehsan Sabouni, H. M. Sabbir Ahmad, Vittorio Giammarino +3
Optimal control methods provide solutions to safety-critical problems but easily become intractable. Control Barrier Functions (CBFs) have emerged as a popular technique that facil…
Secure Control of Connected and Automated Vehicles Using Trust-Aware Robust Event-Triggered Control Barrier Functions
H M Sabbir Ahmad, Ehsan Sabouni, Akua Dickson +3
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadway…
Safety Guaranteed Robust Multi-Agent Reinforcement Learning with Hierarchical Control for Connected and Automated Vehicles
Zhili Zhang, H M Sabbir Ahmad, Ehsan Sabouni +4
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 use…
Trust-Aware Resilient Control and Coordination of Connected and Automated Vehicles
H M Sabbir Ahmad, Ehsan Sabouni, Wei Xiao +2
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause…
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions: a Test Bed for Safe Optimal Merging
Ehsan Sabouni, H. M. Sabbir Ahmad, Wei Xiao +2
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
Merging control in mixed traffic with safety guarantees: a safe sequencing policy with optimal motion control
Ehsan Sabouni, H. M. Sabbir Ahmad, Christos G. Cassandras +1
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in s…
Optimal Merging Control of an Autonomous Vehicle in Mixed Traffic: an Optimal Index Policy
Ehsan Sabouni, Christos G. Cassandras
We consider the problem of a single Autonomous Vehicle (AV) merging into traffic consisting only of Human Driven Vehicles (HDVs) with the goal of minimizing both the travel time an…
Optimal Control of Connected Automated Vehicles with Event/Self-Triggered Control Barrier Functions
Ehsan Sabouni, Christos G. Cassandras, Wei Xiao +1
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…
Self-Triggered Coordination Control of Connected Automated Vehicles in Traffic Networks
Nader Meskin, Ehsan Sabouni, Wei Xiao +1
In this paper, a self-triggered scheme is proposed to optimally control the traffic flow of Connected and Automated Vehicles (CAVs) at conflict areas of a traffic network with the…
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions
Ehsan Sabouni, Christos G. Cassandras, Wei Xiao +1
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such…