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Potdar, N.D. (author), de Croon, G.C.H.E. (author), Alonso-Mora, J. (author)Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free...journal article 2020
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van Lochem, Jelmer (author), Kronmüller, M. (author), Hof, Pim Van t. (author), Alonso-Mora, J. (author)In this paper we address the problem of same-day pick-up and delivery where a set of tasks are known a priori and a set of tasks are revealed during operation. The vehicle routes are precomputed based on the known and predicted requests and adjusted online as new requests are revealed. We propose a novel anticipatory insertion method which...conference paper 2020
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Fielbaum, Andres (author), Alonso-Mora, J. (author)On-demand systems in which several users can ride simultaneously the same vehicle have great potential to improve mobility while reducing congestion. Nevertheless, they have a significant drawback: the actual realization of a trip depends on the other users with whom it is shared, as they might impose extra detours that increase the waiting...journal article 2020
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Kucharski, R.M. (author), Fielbaum, Andres (author), Alonso-Mora, J. (author), Cats, O. (author)Sharing rides in on-demand systems allow passengers to reduce their fares and service providers to increase revenue, though at the cost of adding uncertainty to the system. Notably, the uncertainty of ride-pooling systems stems not only from travel times but also from unique features of sharing, such as the dependency on other passengers'...journal article 2020
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Zhu, H. (author), Alonso-Mora, J. (author)This paper presents B-UAVC, a distributed collision avoidance method for multi-robot systems that accounts for uncertainties in robot localization. In particular, Buffered Uncertainty-Aware Voronoi Cells (B-UAVC) are employed to compute regions where the robots can safely navigate. By computing a set of chance constraints, which guarantee...conference paper 2019
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Zhu, H. (author), Juhl, Jelle (author), Ferranti, L. (author), Alonso-Mora, J. (author)This paper presents a distributed method for splitting and merging of multi-robot formations in dynamic environments with static and moving obstacles. Splitting and merging actions rely on distributed consensus and can be performed to avoid obstacles. Our method accounts for the limited communication range and visibility radius of the robots...conference paper 2019
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Wallar, Alex (author), Alonso-Mora, J. (author), Rus, Daniela (author)Mobility-on-demand (MoD) systems are revolutionizing urban transit with the introduction of ride-sharing. Such systems have the potential to reduce vehicle congestion and improve accessibility of a city's transportation infrastructure. Recently developed algorithms can compute routes for vehicles in real-time for a city-scale volume of...conference paper 2019
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Wallar, Alex (author), Schwarting, Wilko (author), Alonso-Mora, J. (author), Rus, Daniela (author)Mobility-as-a-Service (MaaS) systems are transforming the way society moves. The introduction and adoption of pooled ride-sharing has revolutionized urban transit with the potential of reducing vehicle congestion, improving accessibility and flexibility of a city's transportation infrastructure. Recently developed algorithms can compute...conference paper 2019
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SafeVRU: A research platform for the interaction of self-driving vehicles with vulnerable road usersFerranti, L. (author), Ferreira de Brito, B.F. (author), Pool, E.A.I. (author), Zheng, Y. (author), Ensing, R.M. (author), Happee, R. (author), Shyrokau, B. (author), Kooij, J.F.P. (author), Alonso-Mora, J. (author), Gavrila, D. (author)This paper presents our research platform SafeVRU for the interaction of self-driving vehicles with Vulnerable Road Users (VRUs, i.e., pedestrians and cyclists). The paper details the design (implemented with a modular structure within ROS) of the full stack of vehicle localization, environment perception, motion planning, and control, with...conference paper 2019
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Zhu, H. (author), Alonso-Mora, J. (author)Safe autonomous navigation of microair vehicles in cluttered dynamic environments is challenging due to the uncertainties arising from robot localization, sensing, and motion disturbances. This letter presents a probabilistic collision avoidance method for navigation among other robots and moving obstacles, such as humans. The approach...journal article 2019
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Schwarting, Wilko (author), Pierson, Alyssa (author), Alonso-Mora, J. (author), Karaman, Sertac (author), Rus, Daniela (author)Deployment of autonomous vehicles on public roads promises increased efficiency and safety. It requires understanding the intent of human drivers and adapting to their driving styles. Autonomous vehicles must also behave in safe and predictable ways without requiring explicit communication. We integrate tools from social psychology into...journal article 2019
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Ferreira de Brito, B.F. (author), Floor, Boaz (author), Ferranti, L. (author), Alonso-Mora, J. (author)This letter presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local trajectory that minimizes the tracking error while avoiding obstacles. We build on nonlinear model-predictive...journal article 2019
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Schwarting, Wilko (author), Alonso-Mora, J. (author), Rus, Daniela (author)In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our...journal article 2018
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Cáp, M. (author), Alonso-Mora, J. (author)Self-driving technology is expected to enable the realization of large-scale mobility-on-demand systems that employ massive ridesharing. The technology is being celebrated as a potential cure for urban congestion and others negative externalities of individual automobile transportation. In this paper, we quantify the potential of ridesharing...conference paper 2018
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Zhou, Bingyu (author), Schwarting, Wilko (author), Rus, Daniela (author), Alonso-Mora, J. (author)When driving in urban environments, an autonomous vehicle must account for the interaction with other traffic participants. It must reason about their future behavior, how its actions affect their future behavior, and potentially<br/>consider multiple motion hypothesis. In this paper we introduce a method for joint behavior estimation and...conference paper 2018
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Fiedler, Davide (author), Čertický, Michal (author), Alonso-Mora, J. (author), Cáp, M. (author)In densely populated-cities, the use of private cars for personal transportation is unsustainable, due to high parking and road capacity requirements. The mobility-on-demand systems have been proposed as an alternative to a private car. Such systems consist of a fleet of vehicles that the user of the system can hail for one-way point-to-point...conference paper 2018
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Wallar, Alex (author), Van Der Zee, Menno (author), Alonso-Mora, J. (author), Rus, Daniela (author)Recent developments in Mobility-on-Demand (MoD) systems have demonstrated the potential of road vehicles as an efficient mode of urban transportation Newly developed algorithms can compute vehicle routes in real-time for batches of requests and allow for multiple requests to share vehicles. These algorithms have primarily focused on optimally...conference paper 2018
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Ferranti, L. (author), Negenborn, R.R. (author), Keviczky, T. (author), Alonso-Mora, J. (author)This work presents a method for multi-robot trajectory planning and coordination based on nonlinear model predictive control (NMPC). In contrast to centralized approaches, we consider the distributed case where each robot has an on-board computation unit to solve a local NMPC problem and can communicate with other robots in its neighborhood. We...conference paper 2018
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Stevsic, Stefan (author), Nägeli, Tobias (author), Alonso-Mora, J. (author), Hilliges, Otmar (author)In this letter, we propose an algorithm for the training of neural network control policies for quadrotors. The learned control policy computes control commands directly from sensor inputs and is, hence, computationally efficient. An imitation learning algorithm produces a policy that reproduces the behavior of a supervisor. The supervisor...journal article 2018
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Alonso-Mora, J. (author), Beardsley, Paul (author), Siegwart, Roland (author)In this paper, we present a method, namely CCA, for collision avoidance in dynamic environments among interacting agents, such as other robots or humans. Given a preferred motion by a global planner or driver, the method computes a collision-free local motion for a short time horizon, which respects the actuator constraints and allows for...journal article 2018