Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 2003.08595

Formation and Reconfiguration of Tight Multi-Lane Platoons

Roya Firoozi·Xiaojing Zhang·Francesco Borrelli
View original source ↗Read source document ↗Export metadata ↓

Abstract

Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge and future plans. In this paper, an architecture for autonomous navigation of tight multi-lane platoons travelling on public roads is presented. Using the proposed approach, CAVs are able to form single or multi-lane platoons of various geometrical configurations. They are able to reshape and adjust their configurations according to changes in the environment. The proposed architecture consists of two main components: an offline motion planner system and an online hierarchical control system. The motion planner uses an optimization-based approach for cooperative formation and reconfiguration in tight spaces. A constrained optimization scheme is used to plan smooth, dynamically feasible and collision-free trajectories for all the vehicles within the platoon. The paper addresses online computation limitations by employing a family of maneuvers precomputed offline and stored on a look-up table on the vehicles. The online hierarchical control system is composed of three levels: a traffic operation system (TOS), a decision-maker, and a path-follower. The TOS determines the desired platoon reconfiguration. The decision-maker checks the feasibility of the reconfiguration plan. The reconfiguration maneuver is executed by a low-level path-following feedback controller in real-time. The effectiveness of the approach is demonstrated through simulations of three case studies: 1) formation reconfiguration 2) obstacle avoidance, and 3) benchmarking against behavior-based planning in which the desired formation is achieved using a sequence of motion primitives. Videos and software can be found online https://github.com/RoyaFiroozi/Centralized-Planning.

Explore related subjects

cs.RO

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Roya Firoozi, Xiaojing Zhang, Francesco Borrelli. 2020-12-24. Formation and Reconfiguration of Tight Multi-Lane Platoons. https://arxiv.org/abs/2003.08595

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Humanoid Whole-Body Badminton via an Annealed Reinforcement Learning Curriculum

Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we present an RL training pipeline that yields a unified whole-body controller for humanoid badminton, coordinating footwork and striking without motion priors or expert demonstrations. In badminton, locomotion and striking are tightly coupled, making the final hitting objective difficult to optimize directly due to sparse rewards and conflicting gradients. We address this with an annealed curriculum that first stabilizes learning through auxiliary locomotion objectives, then progressively removes them to focus optimization on the final hitting objective. For deployment, we use an Extended Kalman Filter (EKF) to estimate and predict shuttlecock trajectories for target striking, and also develop a prediction-free variant that removes the EKF and explicit prediction. We validate the framework in simulation and on hardware. In simulation, two robots sustain a rally of 21 consecutive hits. In real-world tests with both machine-fed shuttles and human-robot rallies, the robot achieves outgoing shuttle speeds up to 19.1 m/s. Moreover, the prediction-free variant attains comparable performance to the EKF-based policy. Overall, our approach enables dynamic yet precise goal striking in humanoid badminton and suggests a path toward more dynamics-critical whole-body interaction tasks.

cs.RO↗
arXiv2026

CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System

Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or they degrade under pairwise non-line-of-sight conditions and outliers in complex environments. Robustly and efficiently fusing inter-robot bearings, distances, and inertial measurements for tens of robots remains challenging. We present CREPES-X (Cooperative RElative Pose Estimation System with multiple eXtended features), a hierarchical relative localization framework that enhances speed, accuracy, and robustness under challenging conditions, without requiring any global information. The hardware packs infrared (IR) LEDs, an IR camera, an ultra-wideband module, and an IMU into a cube no larger than $6\,\text{cm}$ on each side. On this hardware, a two-stage hierarchical estimator meets different latency, accuracy, and robustness requirements. The single-frame estimator returns instantaneous relative poses from a closed-form solution with bearing outlier rejection. The multi-frame estimator then refines these poses with IMU pre-integration under robocentric relative kinematics, using loosely- and tightly-coupled optimization. Extensive simulations and real-world experiments validate the effectiveness of CREPES-X, demonstrating robustness of up to $90\%$ bearing outliers, resilience in challenging conditions, and RMSE of $7.0\,\text{cm}$ and $2.2^\circ$ in real-world datasets.

cs.RO↗
arXiv2026

SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM

Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation on land, computing depth from image pairs in underwater scenes remains challenging. In underwater environments, images are degraded by light attenuation, visual artifacts, and dynamic lighting conditions. Furthermore, real-world underwater scenes frequently lack rich texture useful for stereo depth estimation and 3D reconstruction. As a result, stereo estimation networks trained on in-air data cannot transfer directly to the underwater domain. In addition, there is a lack of real-world underwater stereo datasets for supervised training of neural networks. Poor underwater depth estimation is compounded in stereo-based Simultaneous Localization and Mapping (SLAM) algorithms, making it a fundamental challenge for underwater robot perception. To address these challenges, we propose a novel framework that enables sim-to-real training of underwater stereo disparity estimation networks using simulated data and self-supervised finetuning. We leverage our learned depth predictions to develop SurfSLAM, a novel framework for real-time underwater SLAM that fuses stereo cameras with IMU, barometric, and Doppler Velocity Log (DVL) measurements. Lastly, we collect a challenging real-world dataset of shipwreck surveys using an underwater robot. Our dataset features over 24,000 stereo pairs, along with high-quality, dense photogrammetry models and reference trajectories for evaluation. Through extensive experiments, we demonstrate the advantages of the proposed training approach on real-world data for improving stereo estimation in the underwater domain and for enabling accurate trajectory estimation and 3D reconstruction of complex shipwreck sites.

cs.RO↗