Urban transportation is an important factor in energy consumption and pollution, and is of increasing concern due to its complexity and economic significance. Its importance will only increase as urbanization continues around the world. In this article, we explore drivers’ refueling behavior in urban areas. Compared to questionnaire-based methods of the past, we propose a complete data-driven system that pushes towards real-time sensing of individual refueling behavior and citywide petrol consumption. Our system provides the following: detection of individual refueling events (REs) from which refueling preference can be analyzed; estimates of gas station wait times from which recommendations can be made; an indication of overall fuel demand from which macroscale economic decisions can be made, and a spatial, temporal, and economic view of urban refueling characteristics. For individual behavior, we use reported trajectories from a fleet of GPS-equipped taxicabs to detect gas station visits. For time spent estimates, to solve the sparsity issue along time and stations, we propose context-aware tensor factorization (CATF), a factorization model that considers a variety of contextual factors (e.g., price, brand, and weather condition) that affect consumers’ refueling decision. For fuel demand estimates, we apply a queue model to calculate the overall visits based on the time spent inside the station. We evaluated our system on large-scale and real-world datasets, which contain 4-month trajectories of 32,476 taxicabs, 689 gas stations, and the self-reported refueling details of 8,326 online users. The results show that our system can determine REs with an accuracy of more than 90%, estimate time spent with less than 2 minutes of error, and measure overall visits in the same order of magnitude with the records in the field study.

We present an approach to "participatory route planning," a novel concept that takes advantage of mobile devices, such as cellular phones or embedded systems in cars, to form an interactive, participatory network of vehicles that plan their travel routes based on the current traffic conditions and existing routes planned by the network of participants, thereby making more informed travel decision for each participating user. The premise of this approach is that a route, or plan, for a vehicle is also a prediction of where the car will travel. If routes are created for a sizable percentage of the total vehicle population, an estimate for the overall traffic pattern is attainable. Taking planned routes into account as predictions allows the entire traffic route planning system to better distribute vehicles and minimize traffic congestion. We present an approach that is suitable for realistic, city-scale scenarios, a prototype system to demonstrate feasibility, and experiments using a state-of-the-art microscopic traffic simulator.

The advances in mobile computing and social networking services enable people to probe the dynamics of a city. In this paper, we address the problem of detecting and describing traffic anomalies using crowd sensing with two forms of data, human mobility and social media. Traffic anomalies are caused by accidents, control, protests, sport events, celebrations, disasters and other events. Unlike existing traffic-anomaly-detection methods, we identify anomalies according to drivers' routing behavior on an urban road network. Here, a detected anomaly is represented by a sub-graph of a road network where drivers' routing behaviors significantly differ from their original patterns. We then try to describe the detected anomaly by mining representative terms from the social media that people posted when the anomaly happened. The system for detecting such traffic anomalies can benefit both drivers and transportation authorities, e.g., by notifying drivers approaching an anomaly and suggesting alternative routes, as well as supporting traffic jam diagnosis and dispersal. We evaluate our system with a GPS trajectory dataset generated by over 30,000 taxicabs over a period of 3 months in Beijing, and a dataset of tweets collected from WeiBo, a Twitter-like social site in China. The results demonstrate the effectiveness and efficiency of our system.

Urban transportation is increasingly studied due to its complexity and economic importance. It is also a major component of urban energy use and pollution. The importance of this topic will only increase as urbanization continues around the world. A less researched aspect of transportation is the refueling behavior of drivers. In this paper, we propose a step toward real-time sensing of refueling behavior and citywide petrol consumption. We use reported trajectories from a fleet of GPS-equipped taxicabs to detect gas station visits, measure the time spent, and estimate overall demand. For times and stations with sparse data, we use collaborative filtering to estimate conditions. Our system provides real-time estimates of gas stations' waiting times, from which recommendations could be made, an indicator of overall gas usage, from which macro-scale economic decisions could be made, and a geographic view of the efficiency of gas station placement.

'Virtualized traffic' reconstructs and displays continuous traffic flows from discrete spatio-temporal traffic sensor data or procedurally generated control input to enhance a sense of immersion in a dynamic virtual environment. In this paper, we introduce a fast technique to reconstruct traffic flows from in-road sensor measurements or procedurally generated data for interactive 3D visual applications. Our algorithm estimates the full state of the traffic flow from sparse sensor measurements (or procedural input) using a statistical inference method and a continuum traffic model. This estimated state then drives an agent-based traffic simulator to produce a 3D animation of vehicle traffic that statistically matches the original traffic conditions. Unlike existing traffic simulation and animation techniques, our method produces a full 3D rendering of individual vehicles as part of continuous traffic flows given discrete spatio-temporal sensor measurements. Instead of using a color map to indicate traffic conditions, users could visualize and fly over the reconstructed traffic in real time over a large digital cityscape.

This paper presents LQG-Obstacles, a new concept that combines linear-quadratic feedback control of mobile robots with guaranteed avoidance of collisions with obstacles. Our approach generalizes the concept of Velocity Obstacles [3] to any robotic system with a linear Gaussian dynamics model. We integrate a Kalman filter for state estimation and an LQR feedback controller into a closed-loop dynamics model of which a higher-level control objective is the “control input”. We then define the LQG-Obstacle as the set of control objectives that result in a collision with high probability. Selecting a control objective outside the LQG-Obstacle then produces collision-free motion. We demonstrate the potential of LQG-Obstacles by safely and smoothly navigating a simulated quadrotor helicopter with complex non-linear dynamics and motion and sensing uncertainty through three-dimensional environments with obstacles and narrow passages.

There exists a vast amount of geographic information system (GIS) data that model road networks around the world as polylines with attributes. In this form, the data are insufficient for applications such as simulation and 3D visualization-tools which will grow in power and demand as sensor data become more pervasive and as governments try to optimize their existing physical infrastructure. In this paper, we propose an efficient method for enhancing a road map from a GIS database to create a geometrically and topologically consistent 3D model to be used in real-time traffic simulation, interactive visualization of virtual worlds, and autonomous vehicle navigation. The resulting representation provides important road features for traffic simulations, including ramps, highways, overpasses, legal merge zones, and intersections with arbitrary states, and it is independent of the simulation methodologies. We test the 3D models of road networks generated by our algorithm on real-time traffic simulation using both macroscopic and microscopic techniques.

One of the most ubiquitous AI applications is vehicle route planning. While state-of-the-art systems take into account current traffic conditions or historic traffic data, current planning approaches ignore the impact of their own plans on the future traffic conditions. We present a novel algorithm for self-aware route planning that uses the routes it plans for current vehicle traffic to more accurately predict future traffic conditions for subsequent cars. Our planner uses a roadmap with stochastic, time-varying traffic densities that are defined by a combination of historical data and the densities predicted by the planned routes for the cars ahead of the current traffic. We have applied our algorithm to large-scale traffic route planning, and demonstrated that our self-aware route planner can more accurately predict future traffic conditions, which results in a reduction of the travel time for those vehicles that use our algorithm.

Biomimetic robots are a new and challenging frontier for robotic systems. Designs inspired by nature are creating new approaches to problems such as to planetary surface exploration, minimally invasive surgery, or inspection of piping and cabling. However, these new biomimetic robotic systems are a challenge to design, simulate, and control. This paper presents a case-study in the design and physics-based simulation of a unique snake-inspired robot. The Drexel Snake Robot is a novel hybrid capable of both undulatory and rectilinear motion. In order to design gaits, test control algorithms and perform path planning for this robot, we develop a system-level physics-based simulation that captures engineering phenomena across many disciplines: mechanical, electrical, software, electronics, and the robot's external environment. As the snake robot moves, there is considerable slippage between its feet and the ground. Consequently, contact and friction forces play a significant role in dictating the path followed by the robot for a given set of joint motions. A closed-form equation (or set of equations) describing the robot's motion in this environment cannot be derived in a simple manner. Consequently, the material presented here are based the comparison of experimental and simulation results. While developing the simulation model, we detail the process of extracting necessary physical, kinematic and dynamics properties directly from the robot's computer-aided design. This process is not straightforward and the paper documents the issues and lessons learned that will be of use to others wishing to create full virtual models for their systems. Finally, we show how to calibrate the simulation model for fidelity and accuracy with several examples showing that it can be used to test gait and mobility patterns and identify nonobvious secondary phenomena to emerge from the design.

We present a novel, real-time algorithm for modeling large-scale, realistic traffic using a hybrid model of both continuum and agent-based methods for traffic simulation. We simulate individual vehicles in regions of interest using state-of-the-art agent-based models of driver behavior, and use a faster continuum model of traffic flow in the remainder of the road network. Our key contributions are efficient techniques for the dynamic coupling of discrete vehicle simulation with the aggregated behavior of continuum techniques for traffic simulation. We demonstrate the flexibility and scalability of our interactive visual simulation technique on extensive road networks using both real-world traffic data and synthetic scenarios. These techniques demonstrate the applicability of hybrid techniques to the efficient simulation of large-scale flows with complex dynamics.

Abstract We present a novel method for the synthesis and animation of realistic traffic flows on large‐scale road networks. Our technique is based on a continuum model of traffic flow we extend to correctly handle lane changes and merges, as well as traffic behaviors due to changes in speed limit. We demonstrate how our method can be applied to the animation of many vehicles in a large‐scale traffic network at interactive rates and show that our method can simulate believable traffic flows on publicly‐available, real‐world road data. We furthermore demonstrate the scalability of this technique on many‐core systems.

We address the problem of real-time navigation in dynamic environments for car-like robots. We present an approach to identify controls that will lead to a collision with a moving obstacle at some point in the future. Our approach generalizes the concept of velocity obstacles, which have been used for navigation among dynamic obstacles, and takes into account the constraints of a car-like robot. We use this formulation to find controls that will allow collision free navigation in dynamic environments. Finally, we demonstrate the performance of our algorithm on a simulated car-like robot among moving obstacles.

The design of robotic systems involves contributions from several areas of science and engineering. Electrical, mechanical and software components must be integrated to form the final system. Increasingly, simulation tools are being introduced into the design flow as a means to verify the performance of particular subsystems. In order to accurately simulate the complete robotic system we propose a framework that allows designers to describe the robotic system as an interconnection of mechanical, electrical, and software components, with well defined mechanisms for communicating with each other. Through this, we form a multi-disciplinary model that captures both the dynamics of the individual subsystems, and the dynamics resulting from the interconnection of the above subsystems. As a case-study, we will apply the framework to a biologically inspired robotic snake.