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de Ruijter, A.J.F. (author), Cats, O. (author), Alonso-Mora, J. (author), Hoogendoorn, S.P. (author)Previous studies into the potential benefits of ride pooling failed to account for the trade-off that users likely make when considering a shared ride. We address this shortcoming by formulating user net benefit stemming from pooling as a compensatory function where the additional travel time and on-board discomfort need to be compensated by...journal article 2023
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Li, Jingqi (author), Chiu, Chih Yuan (author), Peters, L. (author), Palafox, Fernando (author), Karabag, Mustafa (author), Alonso-Mora, J. (author), Sojoudi, Somayeh (author), Tomlin, Claire (author), Fridovich-Keil, David (author)Decision-making in multi-player games can be extremely challenging, particularly under uncertainty. In this work, we propose a new sample-based approximation to a class of stochastic, general-sum, pure Nash games, where each player has an expected-value objective and a set of chance constraints. This new approximation scheme inherits the...conference paper 2023
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Bai, X. (author), Fielbaum, Andres (author), Kronmüller, M. (author), Knödler, L. (author), Alonso-Mora, J. (author)This paper studies the multi-robot task assignment problem in which a fleet of dispersed robots needs to efficiently transport a set of dynamically appearing packages from their initial locations to corresponding destinations within prescribed time-windows. Each robot can carry multiple packages simultaneously within its capacity. Given a...journal article 2023
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Cheng, Gang (author), Wu, S. (author), Shi, M. (author), Dong, W. (author), Zhu, H. (author), Alonso-Mora, J. (author)Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is known and fixed, or they can be modeled with...journal article 2023
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Serra Gomez, A. (author), Montijano, Eduardo (author), Böhmer, J.W. (author), Alonso-Mora, J. (author)In this paper, we consider the problem where a drone has to collect semantic information to classify multiple moving targets. In particular, we address the challenge of computing control inputs that move the drone to informative viewpoints, position and orientation, when the information is extracted using a “black-box” classifier, e.g., a deep...journal article 2023
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Chen, Gang (author), Dong, Wei (author), Peng, Peng (author), Alonso-Mora, J. (author), Zhu, Xiangyang (author)Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem, wherein a large grid size is unfavorable for motion planning while a small grid size lowers efficiency and...journal article 2023
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Botros, Alexander (author), Sadeghi, Armin (author), Wilde, N. (author), Alonso-Mora, J. (author), Smith, Stephen L. (author)Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization problems is to create a single cost function comprised of the weighted sum of the individual objectives. Solutions to this scalarized optimization problem are Pareto...conference paper 2023
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Wilde, N. (author), Alonso-Mora, J. (author)Reward learning is a highly active area of research in human-robot interaction (HRI), allowing a broad range of users to specify complex robot behaviour. Experiments with simulated user input play a major role in the development and evaluation of reward learning algorithms due to the availability of a ground truth. In this paper, we review...journal article 2023
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Voogd, Kevin L. (author), Allamaa, Jean Pierre (author), Alonso-Mora, J. (author), Son, Tong Duy (author)Reinforcement learning (RL) is a promising solution for autonomous vehicles to deal with complex and uncertain traffic environments. The RL training process is however expensive, unsafe, and time-consuming. Algorithms are often developed first in simulation and then transferred to the real-world, leading to a common sim2real challenge where...journal article 2023
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Fiedler, David (author), Čertický, Michal (author), Alonso-Mora, J. (author), Pěchouček, Michal (author), Čáp, Michal (author)Mobility-on-demand (MoD) systems consist of a fleet of shared vehicles that can be hailed for one-way point-to-point trips. The total distance driven by the vehicles and the fleet size can be reduced by employing ridesharing, i.e., by assigning multiple passengers to one vehicle. However, finding the optimal passenger-vehicle assignment in an...journal article 2022
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Ferreira de Brito, B.F. (author), Agarwal, Achin (author), Alonso-Mora, J. (author)Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have to deal with a wide range of driving behaviors. To maneuver through dense traffic, AVs must be able to reason how their actions affect others (interaction model)...journal article 2022
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Wang, X. (author), Alonso-Mora, J. (author), Wang, M. (author)Road traffic safety has attracted increasing research attention, in particular in the current transition from human-driven vehicles to autonomous vehicles. Surrogate measures of safety are widely used to assess traffic safety but they typically ignore motion uncertainties and are inflexible in dealing with two-dimensional motion. Meanwhile,...journal article 2022
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Peters, L. (author), Fridovich-Keil, David (author), Ferranti, L. (author), Stachniss, Cyrill (author), Alonso-Mora, J. (author), Laine, Forrest (author)In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another’s behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model than traditional “predict then plan” approaches....conference paper 2022
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Fielbaum, Andres (author), Kucharski, R.M. (author), Cats, O. (author), Alonso-Mora, J. (author)Emerging on-demand sharing alternatives, in which one resource is utilised simultaneously by a circumstantial group of users, entail several challenges regarding how to coordinate such users. A very relevant case refers to how to form groups in a mobility system that offers shared rides, and how to split the costs within the travellers of a...journal article 2022
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Alves Beirigo, B. (author), Negenborn, R.R. (author), Alonso-Mora, J. (author), Schulte, F. (author)With the popularization of transportation network companies (TNCs) (e.g., Uber, Lyft) and the rise of autonomous vehicles (AVs), even major car manufacturers are increasingly considering themselves as autonomous mobility-on-demand (AMoD) providers rather than individual vehicle sellers. However, matching the convenience of owning a vehicle...journal article 2022
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Zhu, H. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an uncertainty-aware safe region for each robot to navigate among other robots and static obstacles in the...journal article 2022
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Wang, X. (author), Li, Z. (author), Alonso-Mora, J. (author), Wang, M. (author)Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We...conference paper 2022
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de Vries, J.M. (author), Trevisan, E. (author), van der Toorn, J. (author), Das, T. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive...conference paper 2022
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Lodel, M. (author), Ferreira de Brito, B.F. (author), Serra Gomez, A. (author), Ferranti, L. (author), Babuska, R. (author), Alonso-Mora, J. (author)Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree Search, are capable of reasoning over long horizons, but they are computationally expensive. An alternative...conference paper 2022
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Knödler, L. (author), Salmi, C. (author), Zhu, H. (author), Ferreira de Brito, B.F. (author), Alonso-Mora, J. (author)Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework to improve data-driven pedestrian prediction models online across various scenarios continuously. In...journal article 2022