Introduces an ADMM-based distributed trajectory negotiation framework with interactive attention for robust real-time CAV coordination under uncertainty, reporting up to 40.79% collision reduction and 15.4% lower computation in simulations plus real-world validation.
Decentralized iLQR for cooperative trajectory planning of connected autonomous vehicles via dual consensus admm,
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Robust Real-Time Coordination of CAVs: A Distributed Optimization Framework under Uncertainty
Introduces an ADMM-based distributed trajectory negotiation framework with interactive attention for robust real-time CAV coordination under uncertainty, reporting up to 40.79% collision reduction and 15.4% lower computation in simulations plus real-world validation.