59 citations · 364 across the 71 of their papers we have counts for
15 papers · 1 filter
Cooperative Bidirectional Mixed-Traffic Overtaking
Faizan M. Tariq, Nilesh Suriyarachchi, Christos Mavridis +1
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs)…
Safe Collective Control under Noisy Inputs and Competing Constraints via Non-Smooth Barrier Functions
Clinton Enwerem, John S. Baras
We consider the problem of safely coordinating ensembles of identical autonomous agents to conduct complex missions with conflicting safety requirements and under noisy control inp…
Risk-Sensitive Inhibitory Control for Safe Reinforcement Learning
Armin Lederer, Erfaun Noorani, John S. Baras +1
Humans have the ability to deviate from their natural behavior when necessary, which is a cognitive process called response inhibition. Similar approaches have independently receiv…
RCMS: Risk-Aware Crash Mitigation System for Autonomous Vehicles
Faizan M. Tariq, David Isele, John S. Baras +1
We propose a risk-aware crash mitigation system (RCMS), to augment any existing motion planner (MP), that enables an autonomous vehicle to perform evasive maneuvers in high-risk si…
Consensus-Based Leader-Follower Formation Tracking for Control-Affine Nonlinear Multiagent Systems
Clinton Enwerem, John S. Baras
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by…
PASA: A Priori Adaptive Splitting Algorithm for the Split Delivery Vehicle Routing Problem
Nariman Torkzaban, Anousheh Gholami, John S. Baras +1
The split delivery vehicle routing problem (SDVRP) is a relaxed variant of the capacitated vehicle routing problem (CVRP) where the restriction that each customer is visited precis…
Enabling Cooperative Hybrid Beamforming in TDD-based Distributed MIMO Systems
Nariman Torkzaban, Amir Khojastepour, John S. Baras
Distributed massive MIMO networks are envisioned to realize cooperative multi-point transmission in next-generation wireless systems. For efficient cooperative hybrid beamforming,…
Blind Cyclic Prefix-based CFO Estimation in MIMO-OFDM Systems
Nariman Torkzaban, Amir Khojastepour, John S. Baras
Low-complexity estimation and correction of carrier frequency offset (CFO) are essential in orthogonal frequency division multiplexing (OFDM). In this paper, we propose a low-overh…
Learning Agent Interactions from Density Evolution in 3D Regions With Obstacles
Amoolya Tirumalai, Christos N. Mavridis, John S. Baras
In this work, we study the inverse problem of identifying complex flocking dynamics in a domain cluttered with obstacles. We get inspiration from animal flocks moving in complex wa…
Mobile Network Slicing under Demand Uncertainty: A Stochastic Programming Approach
Anousheh Gholami, Nariman Torkzaban, John S. Baras
Network slicing enables the deployment of multiple dedicated virtual sub-networks, i.e. slices on a shared physical infrastructure. Unlike traditional one-size-fits-all resource pr…
Resource Efficiency vs Performance Isolation Tradeoff in Network Slicing
Panagiotis Nikolaidis, Asim Zoulkarni, John Baras
We consider the tradeoff between resource efficiency and performance isolation that emerges when multiplexing the resource demands of Network Slices (NSs). On the one hand, multipl…
SLAS: Speed and Lane Advisory System for Highway Navigation
Faizan M. Tariq, David Isele, John S. Baras +1
This paper proposes a hierarchical autonomous vehicle navigation architecture, composed of a high-level speed and lane advisory system (SLAS) coupled with low-level trajectory gene…
Approximate Dynamic Programming for a Mean-field Game of Traffic Flow: Existence and Uniqueness
Amoolya Tirumalai, John S. Baras
Highway vehicular traffic is an inherently multi-agent problem. Traffic jams can appear and disappear mysteriously. We develop a method for traffic flow control that is applied at…
Distributed Optimal Formation Control for an Uncertain Multiagent System in the Plane
Clinton Enwerem, John Baras, Danilo Romero
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-…
Capacitated Beam Placement for Multi-beam Non-Geostationary Satellite Systems
Nariman Torkzaban, Asim Zoulkarni, Anousheh Gholami +1
Non-geostationary (NGSO) satellite communications systems have attracted a lot of attention both from industry and academia, over the past several years. Beam placement is among th…