Motion Planning for Multiple Autonomous Vehicles Robotics and Artificial Intelligence Laboratory Indian Institute of Information Technology, Allahabad Motion Planning for Multiple Autonomous Vehicles Into an automated, cooperative, diverse and integrated futuristic transportation system Rahul Kala Best PhD Award Presentation at ITSC, 2014 10th October, 2014

Problem Solving in Mobile Robotics Unorganized Organized Image Courtesy: railway-technical.com, blogs.abc.net.au Motion Planning for Multiple Autonomous Vehicles rkala.in

Trajectory Generation   Static Obstacles B C Select the best plan: (a) A overtakes B from right, B drifts left, A crosses the obstacles, C waits, (b) A follows B and both cross the obstacles while C waits, (c) B crosses the obstacles followed by C and A, (d) C crosses the obstacle a from its left, while A follows B to cross the others a Motion Planning for Multiple Autonomous Vehicles rkala.in

Trajectory Generation Algorithms Sampling Based Genetic Algorithms RRT RRT-Connect Graph Search Based Multi-Level Planning Dynamic Distributed Lanes Reactive Fuzzy Logic Lateral Potential Near-Reactive Elastic Strip Logic Based Planning Motion Planning for Multiple Autonomous Vehicles rkala.in

Intelligent Management of the Transportation System Routing objective/ considerations Routing frequency Recurrent or non-recurrent Traffic Lights Lane change Entirely semi-autonomous, mixed, manual Reservations Motion Planning for Multiple Autonomous Vehicles rkala.in

Intelligent Management of the Transportation System Experiment new traffic behaviours Traffic light, Dynamic Speed Lanes Lane Booking, Road Booking Density Regularization, Blockages, Re-routing Dynamic Traffic Management Non-recurrent traffic City based scenario Short frequent re-planning Single lane overtakes Density and Traffic Light avoidance Congestion Avoidance Recurrent Traffic Route and Start Time Determination Maximize probability of reaching on time and minimize wait time Cooperative traffic lights and lane changes Reaching Destination before Deadline Motion Planning for Multiple Autonomous Vehicles rkala.in

Motion Planning for Multiple Autonomous Vehicles The Thesis Videos Presentations Graphical Abstract Key Contributions Website Motion Planning for Multiple Autonomous Vehicles rkala.in

Indian Institute of Information Technology, Allahabad Acknowledgements Prof. Kevin Warwick Indian Institute of Information Technology, Allahabad Motion Planning for Multiple Autonomous Vehicles rkala.in

Motion Planning for Multiple Autonomous Vehicles Thank You Motion Planning for Multiple Autonomous Vehicles rkala.in