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Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

journal article 2023

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Hierarchical Motion Planning and Tracking for Autonomous Vehicles Using Global Heuristic Based Potential Field and Reinforcement Learning Based Predictive Control

Du, Guodong (author), Zou, Yuan (author), Zhang, Xudong (author), Li, Z. (author), Liu, Qi (author)

The autonomous vehicle is widely applied in various ground operations, in which motion planning and tracking control are becoming the key technologies to achieve autonomous driving. In order to further improve the performance of motion planning and tracking control, an efficient hierarchical framework containing motion planning and tracking...

journal article 2023

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Coordination and Optimization Control Framework for Vessels Platooning in Inland Waterborne Transportation System

Tao, W. (author), Zhu, Man (author), Chen, Shengyong (author), Cheng, Xu (author), Wen, Yuanqiao (author), Zhang, Weidong (author), Negenborn, R.R. (author), Pang, Y. (author)

Vessels sailing in a single platoon could reduce resistance from the perspective of the whole platoon and the individual vessel, and contribute to improving energy benefits. Moreover, transportation energy costs and traffic efficiency are essential indicators for measuring waterborne transportation systems. We attempt to minimize...

journal article 2023

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Advanced Digital Methods for Analysing and Optimising Accessibility and Visibility of Water for Designing Sustainable Healthy Urban Environments

Zhang, H. (author), Nijhuis, S. (author), Newton, C.E.L. (author)

Water, a vital element of human existence, shapes cities and benefits human health through daily exposure. This study delves into advanced digital methods to describe blue space exposure effectively, aiming to optimise spatial accessibility and visibility of water for designing sustainable healthy urban environments. Rotterdam is utilised as a...

journal article 2023

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Social-Aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving Through Roundabouts as a Case Study

Zhang, Li (author), Dong, Y. (author), Farah, H. (author), van Arem, B. (author)

The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs' deployment and safe driving under various maneuvers. Previous research mostly focuses on...

conference paper 2023

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Social-aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving through Roundabouts as a Case Study

Zhang, Li (author), Dong, Y. (author), Farah, H. (author), van Arem, B. (author)

The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs’ deployment and safe driving under various maneuvers. Previous research mostly focuses on...

poster 2023

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Synchromodal freight transport re-planning under service time uncertainty: An online model-assisted reinforcement learning

Zhang, Y. (author), Negenborn, R.R. (author), Atasoy, B. (author)

The objective of this study is to address the issue of service time uncertainty in synchromodal freight transport, which can cause delays, inefficiencies, and reduced satisfaction for shippers. The proposed solution is an online deep Reinforcement Learning (RL) approach that takes into account the service time uncertainty, assisted by an...

journal article 2023

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Synchromodal transport planning considering heterogeneous and vague preferences of shippers

Zhang, Y. (author), Li, X. (author), van Hassel, E.B.H.J. (author), Negenborn, R.R. (author), Atasoy, B. (author)

In synchromodal transport, a freight forwarder usually serves multiple shippers with heterogeneous and vague preferences, such as low-cost, fast, or reliable transport. Ignoring shippers’ preferences will negatively impact the satisfaction of shippers and lead to the loss of them in the longer run. In order to incorporate these preferences, a...

journal article 2022

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A route network planning method for urban air delivery

He, Xinyu (author), He, Fang (author), Li, L. (author), Zhang, Lei (author), Xiao, Gang (author)

High-tech giants and start-ups are investing in drone technologies to provide urban air delivery service, which is expected to solve the last-mile problem and mitigate road traffic congestion. However, air delivery service will not scale up without proper traffic management for drones in dense urban environment. Currently, a range of Concepts...

journal article 2022

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Estimating loss of life caused by dam breaches based on the simulation of floods routing and evacuation potential of population at risk

Ge, Wei (author), Jiao, Yutie (author), Wu, Meimei (author), Li, Zongkun (author), Wang, Te (author), Li, Wei (author), Zhang, Yadong (author), Gao, Weixing (author), van Gelder, P.H.A.J.M. (author)

Dam breaches often have catastrophic consequences in downstream areas. Hydrodynamic factors and the evacuation potential of the population at risk (PAR) have significant impacts on the loss of life (LOL) caused by dam breaches. However, the existing comprehensive evaluation models have not conducted in-depth research on the evacuation...

journal article 2022

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Preference-Based Multi-Objective Optimization for Synchromodal Transport Using Adaptive Large Neighborhood Search

Zhang, Y. (author), Atasoy, B. (author), Negenborn, R.R. (author)

Decision-makers in synchromodal transport (ST) have different preferences toward different objectives, such as cost, time, and emissions. To solve the conflicts among objectives and obtain preferred solutions, a preference-based multi-objective optimization model is developed. In ST, containers need to be transferred across modes, therefore...

journal article 2022

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Collaborative planning for intermodal transport with eco-label preferences

Zhang, Y. (author), Heinold, Arne (author), Meisel, Frank (author), Negenborn, R.R. (author), Atasoy, B. (author)

Sustainability is a common concern in intermodal transport. Collaboration among carriers may help in reducing emissions. In this context, this work establishes a collaborative planning model for intermodal transport and uses eco-labels (a series of different levels of emission ranges) to reflect shippers’ sustainability preferences. A...

journal article 2022

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Distributed Model Predictive Contouring Control for Real-Time Multi-Robot Motion Planning

Xin, Jianbin (author), Qu, Yaoguang (author), Zhang, Fangfang (author), Negenborn, R.R. (author)

Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and...

journal article 2022

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Synchromodal transport planning with flexible services: Mathematical model and heuristic algorithm

Zhang, Y. (author), Guo, W. (author), Negenborn, R.R. (author), Atasoy, B. (author)

As a critical feature of synchromodal transport (ST), service flexibility plays an important role in improving the utilization of resources to reduce costs, emissions, congestions, and delays. However, none of the existing studies considered flexible services under the framework of synchromodality. This paper develops a Mixed Integer Linear...

journal article 2022

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Revisiting China’s Sponge City Planning Approach: Lessons From a Case Study on Qinhuai District, Nanjing

Chen, Shiyang (author), van de Ven, F.H.M. (author), Zevenbergen, C. (author), Verbeeck, Simon (author), Ye, Qinghua (author), Zhang, Weijun (author), Wei, Liang (author)

Integrating sustainable urban water management into the urban planning process is essential for developing water-resilient cities. To this end, the central government of the People’s Republic of China initiated the “Sponge City” programme. However, challenges and gaps exist in current urban planning practice. The operationalizable planning...

journal article 2021

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Path planning for autonomous ships: A hybrid approach based on improved apf and modified vo methods

Zhang, Liang (author), Mou, Junmin (author), Chen, Pengfei (author), Li, M. (author)

In this research, a hybrid approach for path planning of autonomous ships that generates both global and local paths, respectively, is proposed. The global path is obtained via an improved artificial potential field (APF) method, which makes up for the shortcoming that the typical APF method easily falls into a local minimum. A modified...

journal article 2021

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Community living circle along station influencing realm: Exploring the relationship between the community living circle and rail station influencing realm in a mountainous urban context

Zhang, Q. (author)

China is facing the dual challenges of urbanization and motorization（Jing, 2008）. The poorly organized urban centers and traditional residential planning are unable to meet the increasingly diverse demand of people. To solve these problems, the TOD model and the emerging community living circle are being favored by policy makers. Promoting urban...

master thesis 2020

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Assessment on China's urbanization after the implementation of main functional areas planning

Xia, Han (author), Zhang, Wanshun (author), He, Lian (author), Ma, Mengyue (author), Peng, Hong (author), Li, Lin (author), Ke, Q. (author), Hang, Panpan (author), Wang, Xintang (author)

China has implemented main functional areas planning (MFAP) since 2010, which is essential for improving the efficiency of land space utilization and achieving sustainable urban development. Quantitative assessments of the urban development levels (UDLs) at the county level across China after the implementation of MFAP have not been well...

journal article 2020

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Integrating agent-based modeling, serious gaming, and co-design for planning transport infrastructure and public spaces

Yang, Liu (author), Zhang, Lufeng (author), Philippopoulos-Mihalopoulos, Andreas (author), Chappin, E.J.L. (author), van Dam, Koen H. (author)

Car-oriented transport infrastructure developments have had detrimental impacts on the public realm in terms of poor walkability and fractured leftover urban spaces. To build integrated transport infrastructure and public space systems with considering non-motorized travelers’ behavior, we present an integrated methodology incorporating an...

journal article 2020

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Landscape as a sustainable interface: Towards a vibrant boundary area in Shenzhen 'Second Line'

Zhang, Xiaozhu (author)

In the south of China, there is a city called Shenzhen who develop so fast that use more than 40 years from a fish village to a metropolitan. Behind this rapidly growing, there used to be one strict boundary for separating the downtown and the other district in Shenzhen. The barrier line is 84km long consisted with fences and 16 checkpoints. <br...

master thesis 2018