Multi-vehicle Lab

Multivehicle collision avoidance project
This is a currently active project.

Human warning/override system project 
This is a currently active project. 

Project time management: Warning.pdf

Extension of Semi-autonomous Roundabout project
As an extension to the semi-autonomous roundabout project below, an additional vehicle was added to the system.  Again, the outermost vehicle is human driven, and the intermediate vehicle is an autonomous vehicle running the algorithm developed by Rajeev Verma.  The innermost car is also autonomous, but treats the intermediate car as an enemy.

Semi-autonomous Roundabout project
The objective of this project is to design a roundabout system that is collision-free, alive, and adapting to the presence of human drivers. This project starts Summer 2009!
References: Papers and Matlab Code
Collision Avoidance Algorithm with a Human-driven Vehicle [12]
Collision Avoidance with a Human-driven Vehicle Matlab Code by Rajeev Verma [13]
Kick-off meeting presentation (May 15 2009) [14]
Semi-autonomous System Movie-December 2010 By Rajeev Verma.

In the movie, the human-driven vehicle runs on the outer loop and it is remotely controlled by a human subject from the remote human control station (showed on the right). The autonomous vehicle runs on the intermediate loop. Its task is to (1) predict the intent of the human driven vehicle and (2) on the basis of this belief, apply the least conservative control action to prevent a collision. This problem was formulated as a control problem with imperfect mode information for hybrid automata. To see how we solved this problem, check this paper by Rajeev Verma [15] (CDC 2009)

Three-Vehicle Movie-September 2009 Demo or alternate link on youtube [9] By Jeffrey Michael Duperret
In the movie, Vehicle 3 and Vehicle 1 employ the collision avoidance algorithm relying to the capture sets as shown above to prevent the collision at C1. Vehicle 2 and Vehicle 3 apply the same algorithm to prevent the collision at C2. When Vehicle 3 and Vehicle 1 or Vehicle 2 and Vehicle 3 are on the common traits, they implement a rear-end collision avoidance routine. The system is safe and live by design. For more information on the algorithms, see the publications [10] (ACC 2009) and [11] (CDC 2009).

Autonomous Roundabout project
This Project started during summer 2008. It was lead by a group of undergraduate students. 
Project Introduction, Algorithms, and Tasks [2]

Project Time Management (May-Mid June) [3]

Vehicle Software Architecture [4]

Undergrad Students: Vishnu Desaraju, Mark Yang, Hyun Chul Rho, Stephanie Roth, Edwin Tay, Jeffrey Duperret

References: Papers and code for CA and vehicle dynamics

Collision Avoidance Algorithm (CA) [5]

Collision Avoidance Matlab Code by Rajeev Verma [6]
Vehicle Dynamics [7]

Final Project Report--September 2008 [8] (This appeared as a paper in the 2009 ICRA conference)
Final Movie-September 2008 Final Demo Movie By Vishnu Desaraju. In the movie, we show the experimentally obtained trajectory of the vehicles compared against the capture sets, which we implemented using our partial order-based algorithms. These algorithms have linear complexity in the size of the system state space as they exploit the rich partial order structure that characterizes traffic systems.