This paper presents a unified prediction and planning algorithm for an autonomous vehicle to interact with an uncertain human-driven vehicle. Predicting human motion is challenging due to inherent uncertainties in diverse human internal states, i.e., driving styles and rationality. To address these complexities, we propose a hierarchical prediction strategy that combines data-driven internal state inference and planning-based human motion prediction. First, we employ Long Short Term Memory Networks (LSTM) based inference modules to capture both driving styles and rationality from the observed motion of human driver. With these inferred internal states, we predict the future trajectories of human-driven vehicle by formulating a human planning model as an optimization problem. Lastly, we present a Stochastic Model Predictive Control (SMPC) for the autonomous vehicle to safely interact with the human-driven vehicle while actively inferring human internal states. The simulation results, demonstrating the lane change scenarios, indicate the proposed method outperforms the existing work in both predicting the human motion and achieving the robot’s goal.

This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on top of 3D terrain topology. The existing works are limited to adopt overly simplified vehicle-terrain models. The proposed algorithm learns the terrain-induced uncertainties from driving data and encodes the learned uncertainty distribution into the traversability cost for path evaluation. The navigation path is then designed to optimize the uncertainty-aware traversability cost, resulting in a safe and agile vehicle maneuver. Assuring real-time execution, the algorithm is further implemented within parallel computation architecture running on Graphics Processing Units (GPU).

This article proposes a distributed estimation algorithm that uses local information about the neighbors through sensing or communication to design an estimation-based cooperative control of the stochastic multiagent system (MAS). The proposed distributed estimation algorithm solely relies on local sensing information rather than exchanging estimated state information from other agents, as is commonly required in conventional distributed estimation methods, reducing communication overhead. Furthermore, the proposed method allows interactions between all agents, including non-neighboring agents, by establishing a virtual fully connected network with the MAS state information independently estimated by each agent. The stability of the proposed distributed estimation algorithm is theoretically verified. Numerical simulations demonstrate the enhanced performance of the estimation-based linear and nonlinear control. In particular, using the virtual fully connected network concept in the MAS with the sensing/communication range, the flock configuration can be tightly controlled within the desired boundary, which cannot be achieved through the conventional flocking methods.

Device to Device (D2D) communication takes advantage of the proximity between the communicating devices in order to achieve efficient resource utilization, improved throughput and energy efficiency, simultaneous serviceability and reduced latency. One of the main characteristics of D2D communication is reuse of the frequency resource in order to improve spectral efficiency of the system. Nevertheless, frequency reuse introduces significantly high interference levels thus necessitating efficient resource allocation algorithms that can enable simultaneous communication sessions through effective channel and/or power allocation. This survey paper presents a comprehensive investigation of the state-of-the-art resource allocation algorithms in D2D communication underlaying cellular networks. The surveyed algorithms are evaluated based on heterogeneous parameters which constitute the elementary features of a resource allocation algorithm in D2D paradigm. Additionally, in order to familiarize the readers with the basic design of the surveyed resource allocation algorithms, brief description of the mode of operation of each algorithm is presented. The surveyed algorithms are divided into four categories based on their technical doctrine i.e., conventional optimization based, Non-Orthogonal-Multiple-Access (NOMA) based, game theory based and machine learning based techniques. Towards the end, several open challenges are remarked as the future research directions in resource allocation for D2D communication.