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Improved public transportation in rural areas with self-driving cars: A study on the operation of Swiss train lines

TRANSPORTATION RESEARCH PART A-POLICY AND PRACTICE 2020年第0期134卷 35-51页

作者： Sieber, L. Ruch, C. Horl, S. Axhausen, K. W. Frazzoli, E. Swiss Fed Inst Technol Inst Dynam Syst & Control Zurich Switzerland Swiss Fed Inst Technol Inst Transport Planning & Syst Zurich Switzerland

Public transport lines, especially train lines, have historically played an important role as economic lifelines of rural areas. They are one of the most important factors contributing to economic prosperity as they provide access to mobility for all the inhabitants of these regions. Maintaining such rural public transport lines can be a challenge due to the low utilization inherent to rural areas. Today, with the emergence of fully self-driving cars, on-demand mobility schemes in which autonomous robotic taxis transport passengers, are becoming possible. In this work, we analyze if rural public transport lines with low utilization can be replaced with autonomous mobility-on-demand systems. More specifically, we compare the existing public transportation infrastructure to hypothetical mobility-on-demand systems both in terms of cost and service level. We perform our analysis, which focuses on the operational aspects, using a simulation approach in which unit-capacity robotic taxis are operated in a street network taking into account congestion effects and state-of-the-art control (dispatching and rebalancing) strategies. Our study considers the case of four rural train lines in Switzerland that operate at low utilization and cost coverage. We show that a unit-capacity mobility-on-demand service with self-driving cars reduces both travel times and operational cost in three out of four cases. In one case, even a service with human driven vehicles would provide higher service levels at lower cost. The results suggest that centrally coordinated mobility-on-demand schemes could be a very attractive option for rural areas.

关键词： Autonomous mobility Mobility-on-demand Taxi Rural transportation Train substitution fleet control Agent-based simulation

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A Tire/Road Interaction Tool for the Evaluation of Tire Wear for Commercial Vehicles

A Tire/Road Interaction Tool for the Evaluation of Tire Wear...

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29th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： De Martino, M. Costa, Argemiro L. A. Timpone, F. Sakhnevych, A. Prometeon Tire Grp Milan Italy Univ Napoli Federico II Naples Italy MegaRide UniNa Spin Off Co Naples Italy

ISBN: (纸本)9783030489915;9783030489892;9783030489885

The understanding and control of tire wear, preventing tread degradation and irregular wear has been a challenge to tire product engineers, and an important issue for fleet management. There is not a simple equation to analyze and predict it. The optimal wear, and consequent mileage performance, depends not only on the tire, but also on its interaction with the vehicle and the road. It varies with operational conditions and, furthermore, with vehicle and tire maintenance. This paper aims to show the preliminary analysis useful for the development of a tool able to predict tire wear performances in the truck & bus environment, anticipating the results coming from a standard field evaluation. A predictive tool is important for both tire manufacturer and final customers: the advantage for tire manufacturer is the possibility to drastically reduce time-to-market and to have reliable and controlled results;for OEMs, the possibility to receive tire models based on outdoor tests using their own vehicle as a moving lab;for final customer, the advantage of having smart-tire able to predict wear performances, generating valuable advices for maintenance and fleet control. Such aspects will be explained in this paper covering the first results obtained during an outdoor session where a reference vehicle has been instrumented in order to evaluate longitudinal behavior.

关键词： Tire wear Smart-tire Truck & bus fleet control Trick tool

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fleet operational policies for automated mobility: A simulation assessment for Zurich

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TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES 2019年 102卷 20-31页

作者： Horl, S. Ruch, C. Becker, F. Frazzoli, E. Axhausen, K. W. Swiss Fed Inst Technol Inst Transport Planning & Syst Zurich Switzerland Swiss Fed Inst Technol Inst Dynam Syst & Control Zurich Switzerland

We evaluate performance of four different operational policies to control an automated mobility on-demand system with sequential vehicle-sharing in one public open-source-accessible, agent based, high fidelity simulation environment. Detailed network dynamics on a road level of precision are taken into account. The case study is conducted in a simulation scenario of Zurich city. The results indicate that automated vehicles' shared mobility systems can provide approximately six times higher occupancy rates than conventional private cars, but that their costs in Switzerland are considerably higher than those of subsidized public transport or private cars in the short term. However, these services are predicted to be considerably cheaper than the full costs of owning and using a private car, which makes the long-term adoption of automated taxi services likely. Simulations demonstrate that choice of fleet operational policy determining customer-vehicle assignment and repositioning of empty vehicles (rebalancing) heavily influences system performance, e.g., wait times and cost. This aspect must thus be regarded as an important factor in the interpretation of existing and future simulation studies.

关键词： AMoD Automated vehicle Mobility-on-demand Taxi Operational policy fleet control Agent-based simulation MATSim

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Design and Implementation of Distributed Path Planning Algorithm for a fleet of UAVs

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2019年第6期55卷 2647-2657页

作者： Belkadi, Adel Abaunza, Hernan Ciarletta, Laurent Castillo, Pedro Theilliol, Didier Univ Lorraine CRAN UMR CNRS Vandoeuvre Les Nancy France Univ Technol Compiegne Sorbonne Univ CNRS UMR 7253 F-60200 Compiegne France Univ Lorraine LORIA UMR CNRS Vandoeuvre Les Nancy France Univ Lorraine Res Ctr Automat Control Nancy CNRS UMR 7039 BP 70239 F-54506 Vandoeuvre Les Nancy France Univ Reims Inst Format Tech Super F-51100 Reims France Univ Lorraine Ecole Mines Nancy UMR 7503 F-54506 Vandoeuvre Les Nancy France

This paper presents the development of a controller for a fleet of unmanned aerial vehicles based on a distributed path planning strategy under a multiagent systems framework. The issue, treated as an online optimization problem, is solved using a particle swarm optimization (PSO) algorithm. The proposal was validated in experiments, considering different scenarios like fixed and mobile targets, external disturbances, and the loss of an agent. The proposed PSO is implemented independently in each vehicle in order to determine, by minimizing a cost function, the best paths that ensure the fleet formation control, target tracking, and collision avoidance.

关键词： Vehicle dynamics Trajectory Cost function Heuristic algorithms Target tracking Defective agents fleet control multiagent systems (MASs) particle swarm optimization (PSO) algorithm path planning

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AVSS: Airborne Video Surveillance System

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SENSORS 2018年第6期18卷 1939-1939页

作者： Jung, Jongtack Yoo, Seungho La, Woong Gyu Lee, Dongkyu Roy Bae, Mungyu Kim, Hwangnam Korea Univ Sch Elect Engn Seoul 02841 South Korea

Most surveillance systems only contain CCTVs. CCTVs, however, provide only limited maneuverability against dynamic targets and are inefficient for short term surveillance. Such limitations do not raise much concern in some cases, but for the scenario in which traditional surveillance systems do not suffice, adopting a fleet of UAVs can help overcoming the limitations. In this paper, we present a surveillance system implemented with a fleet of unmanned aerial vehicles (UAVs). A surveillance system implemented with a fleet of UAVs is easy to deploy and maintain. A UAV fleet requires little time to deploy and set up, and removing the surveillance is also virtually instant. The system we propose deploys UAVs to the target area for installation and perform surveillance operations. The camera mounted UAVs act as surveillance probes, the server provides overall control of the surveillance system, and the fleet platform provides fleet-wise control of the UAVs. In the proposed system, the UAVs establish a network and enable multi-hop communication, which allows the system to widen its coverage area. The operator of the system can control the fleet of UAVs via the fleet platform and receive surveillance information gathered by the UAVs. The proposed system is described in detail along with the algorithm for effective placement of the UAVs. The prototype of the system is presented, and the experiment carried out shows that the system can successfully perform surveillance over an area set by the system.

关键词： surveillance UAV fleet control UAV network

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Distributed Path Planning for controlling a fleet of UAVs: Application to a Team of Quadrotors

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IFAC-PapersOnLine 2017年第1期50卷 15983-15989页

作者： Belkadi, A. Abaunza, H. Ciarletta, L. Castillo, P. Theilliol, D. Universite de Lorraine CRAN CNRS UMR 7039 BP 70239 Vandoeuvre Cedex54506 France Mines Nancy Universite de Lorraine UMR 7503 Loria France Sorbonne Universites Universit de Technologie de Compigne CNRS UMR 7253 Compiegne France

In this paper, a distributed trajectory generation strategy is proposed to control a group of Unmanned Aerial Vehicles (UAVs). The issue, treated as an online optimization problem, is solved using a Particle Swarm Optimization (PSO) algorithm. The proposed PSO is implemented independently in each vehicle in order to determine, by minimizing a cost function, the best paths that ensure the fleet formation control, target tracking and collision and obstacle avoidance. The method illustrated in this paper offers solutions to several questions related to the control of a group of UAVs and could be applied to solve problems such as covering large search areas for surveillance, inspection and rescue. Firstly, experiments on one quadrotor are implemented to illustrate the effectiveness of the proposed algorithm. Large disturbances and obstacles are considered to illustrate the robustness of the presented approach. The method is tested in a real environment with a group of three quadrotors. © 2017

关键词： Particle swarm optimization (PSO) Antennas Cost functions fleet operations Motion planning Optimization Target tracking fleet control Flight training Formation control Large disturbance Online optimization Path generation PSO algorithms Trajectory generation

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Distributed Path Planning for controlling a fleet of UAVs : Application to a Team of Quadrotors

Distributed Path Planning for Controlling a Fleet of UAVs : ...

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20th World Congress of the International-Federation-of-Automatic-control (IFAC)

作者： Belkadi, A. Abaunza, H. Ciarletta, L. Castillo, P. Theilliol, D. Univ Lorraine CRAN CNRS UMR 7039 BP 70239 F-54506 Vandoeuvre Les Nancy France Univ Lorraine Mines Nancy Loria UMR 7503 Vandoeuvre Les Nancy France Sorbonne Univ Univ Technol Compigne CNRS UMR 7253 Compiegne France

关键词： fleet control Flight Training Optimization PSO algorithm Path generation

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Empowering Drones' Teamwork with Airborne Network 31

Empowering Drones' Teamwork with Airborne Network

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31st IEEE International Conference on Advanced Information Networking and Applications (IEEE AINA)

作者： Yoo, Seungho Jung, Jongtack Chung, Albert Y. Kim, Kangho Lee, Jiyeon Park, Seongjoon Lee, Suk Kyu Lee, Hyung Kyu Kim, Hwangnam Korea Univ Sch Elect Engn Seoul South Korea

ISBN: (纸本)9781509060290

We propose a unified platform for multiple unmanned aerial vehicles (UAV). Recently, the UAV technology has seen a great development. However, the capability of single drone1 is yet limited by its physical features. To better enhance the capability of drones, we have devised and implemented a fleet based multi-UAV platform. Our proposed platform consists of powerful network functions and enhanced control and sensing algorithms, so that a unified fleet control can be accomplished. Further, it provides a platform for applications that require multiple UAVs working together. The network functions of the proposed platform achieves a strong connectivity and robustness, and a precise relative and absolute localization enables a fleet based control system. With the help of core modules, the proposed platform achieves a well controlled fleet flight and network management.

关键词： Drone fleet control Flying Ad-hoc Network (FANET) Network Unmanned Aerial Vehicle (UAV)

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Particle swarm optimization method for the control of a fleet of Unmanned Aerial Vehicles 12

Particle swarm optimization method for the control of a flee...

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12th European Workshop on Advanced control and Diagnosis (ACD)

作者： Belkadi, A. Ciarletta, L. Theilliol, D. Univ Lorraine CNRS CRAN F-54516 Vandoeuvre Les Nancy France CRAN UMR 7039 CNRS Paris France Univ Lorraine Ecole Mines Nancy F-54516 Vandoeuvre Les Nancy France

This paper concerns a control approach of a fleet of Unmanned Aerial Vehicles (UAV) based on virtual leader. Among others, optimization methods are used to develop the virtual leader control approach, particularly the particle swarm optimization method (PSO). The goal is to find optimal positions at each instant of each UAV to guarantee the best performance of a given task by minimizing a predefined objective function. The UAVs are able to organize themselves on a 2D plane in a predefined architecture, following a mission led by a virtual leader and simultaneously avoiding collisions between various vehicles of the group. The global proposed method is independent from the model or the control of a particular UAV. The method is tested in simulation on a group of UAVs whose model is treated as a double integrator. Test results for the different cases are presented.

关键词： PSO algorithm fleet control Virtual Leader generating path

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A Multi-Drone Platform for Empowering Drones' Teamwork 21

A Multi-Drone Platform for Empowering Drones' Teamwork

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21st Annual International Conference on Mobile Computing and Networking (MobiCom)

作者： Yoo, Seungho Kim, Kangho Jung, Jongtack Chung, Albert Y. Lee, Jiyeon Lee, Suk Kyu Lee, Hyung Kyu Kim, Hwangnam Korea Univ Sch Elect Engn Seoul South Korea

ISBN: (纸本)9781450336192

The rapid development of UAV technology has opened up numerous applications. Further, cooperating drones(1) possess a great potential in various areas of applications. Yet, there has not been a platform for a fleet of drones. It is rather difficult to control multiple drones through a single ground control station. In fact, drones need to consistently exchange flight information to maintain the formation of the fleet and follow the commands given from the GCS. Thus, drones need a robust network established among the fleet to provide a fleet control. In this paper, we propose Net-Drone, a multi-drone platform for applications that require cooperation of multiple drones. Net-Drone is equipped with strong network functionalities to provide a control system for a fleet of drones. Through case studies conducted with a prototype implementation, the proposed system is demonstrated. Video of the conducted case study can be found in [5].

关键词： Unmanned Aerial Vehicle (UAV) Drone fleet control

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