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On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment
- Javier Alonso-Mora, S. Samaranayake, Alex Wallar, Emilio Frazzoli, D. Rus
- Computer ScienceProceedings of the National Academy of Sciences
- 3 January 2017
A more general mathematical model for real-time high-capacity ride-sharing that scales to large numbers of passengers and trips and dynamically generates optimal routes with respect to online demand and vehicle locations is presented.
Optimal Reciprocal Collision Avoidance for Multiple Non-Holonomic Robots
Non-holonomic optimal reciprocal collision avoidance (NH-ORCA) builds on the concepts introduced in , but further guarantees smooth and collision-free motions under non- holonomic constraints.
Planning and Decision-Making for Autonomous Vehicles
An overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles is provided.
Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments
A tight bound for approximation of collision probability is developed, which makes the CCNMPC formulation tractable and solvable in real time.
Duckietown: An open, inexpensive and flexible platform for autonomy education and research
Duckietown is an open, inexpensive and flexible platform for autonomy education and research that comprises small autonomous vehicles built from off-the-shelf components, and cities complete with roads, signage, traffic lights, obstacles, and citizens in need of transportation.
Reciprocal collision avoidance for multiple car-like robots
- Javier Alonso-Mora, A. Breitenmoser, P. Beardsley, R. Siegwart
- PhysicsIEEE International Conference on Robotics and…
- 14 May 2012
The proposed algorithm, bicycle reciprocal collision avoidance (B-ORCA), builds on the concept of optimal reciprocal collisions avoidance (ORCA) for holonomic robots but furthermore guarantees collision-free motions under the kinematic constraints of car-like vehicles.
Real-time planning for automated multi-view drone cinematography
- Tobias Naegeli, Lukas Meier, A. Domahidi, Javier Alonso-Mora, Otmar Hilliges
- Computer ScienceACM Trans. Graph.
- 20 July 2017
The online nature of the method enables incorporation of feedback into the planning and control loop, makes the algorithm robust to disturbances and extended to include coordination between multiple drones to enable dynamic multi-view shots, typical for action sequences and live TV coverage.
Safe Nonlinear Trajectory Generation for Parallel Autonomy With a Dynamic Vehicle Model
- Wilko Schwarting, Javier Alonso-Mora, L. Paull, S. Karaman, D. Rus
- Computer ScienceIEEE Transactions on Intelligent Transportation…
- 1 September 2018
A parallel autonomy, or shared control, framework that computes safe trajectories for an automated vehicle, based on human inputs, is introduced that successfully avoids collisions and generates motions with minimal intervention for parallel autonomy.
Predictive routing for autonomous mobility-on-demand systems with ride-sharing
- Javier Alonso-Mora, Alex Wallar, D. Rus
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 1 September 2017
This work describes a constrained optimization method capable of assigning requests to autonomous vehicles in an informed way, to minimize the expected cost of serving both current and future travel requests.
Collision avoidance for aerial vehicles in multi-agent scenarios
This article describes an investigation of local motion planning, or collision avoidance, for a set of decision-making agents navigating in 3D space, which builds on the concept of velocity obstacles, which characterizes the set of trajectories that lead to a collision between interacting agents.