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Ride-sharing services are transforming urban mobility by providing timely and convenient transportation to anybody, anywhere, and anytime. These services present enormous potential for positive societal impacts with respect to pollution, energy consumption, congestion, etc. Current mathematical models, however, do not fully address the potential of(More)
This paper proposes a reactive motion-planning approach for persistent surveillance of risk-sensitive areas by a team of unmanned aerial vehicles (UAVs). The planner, termed PARCov (Planner for Autonomous Risk-sensitive Coverage), seeks to: i) maximize the area covered by sensors mounted on each UAV; ii) provide persistent surveillance; iii) maintain high(More)
This paper combines probabilistic roadmaps with potential fields in order to enable a robotic swarm to e↵ectively move to a desired destination while avoiding collisions with obstacles and each other. Potential fields provide the robots with local, reactive, behaviors that seek to keep the swarm moving in cohesion and away from the obstacles. The(More)
This paper proposes a path-planning approach to enable a team of unmanned aerial vehicles (UAVs) to efficiently conduct surveillance of sensitive areas. The proposed approach, termed PARCov (Planner for Autonomous Risk-sensitive Coverage), seeks to maximize the area covered by the sensors mounted on each UAV while maintaining high sensor data quality and(More)
This paper presents a path-planning approach to enable a swarm of robots move to a goal region while avoiding collisions with static and dynamic obstacles. To provide scalability and account for the complexity of the interactions in the swarm, the proposed approach combines probabilistic roadmaps with potential fields. The underlying idea is to provide the(More)
Active Queue Management (AQM) schemes, such as PIE [1] and RED [2], have been particularly effective in combating bufferbloat and attenuating network congestion. Despite their widespread success and improved performance over traditional Tail Drop queuing schemes, the extent of AQM deployment in contemporary networks is not known [3]. Detecting the presence(More)
Ride-sharing, or carpooling, systems with autonomous vehicles will provide efficient and reliable urban mobility on demand. In this work we present a method for dynamic vehicle routing that leverages historical data to improve the performance of a network of self-driving taxis. In particular, we describe a constrained optimization method capable of(More)
A large number of traffic accidents, especially those involving vulnerable road users such as pedestrians and cyclists, are due to blind spots for the driver, for example when a vehicle takes a turn with poor visibility or when a pedestrian crosses from behind a parked vehicle. In these accidents, the consequences for the vulnerable road users are dramatic.(More)
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