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Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research.

In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to the research area of Self-Adaptive Systems (SAS). Platooning is one example of adaptive systems in Intelligent Transportation Systems, which is the ability of vehicles to travel with close inter-vehicle distances. This technology leads to an increase in road throughput and safety, which directly addresses the increased infrastructure needs due to increased traffic on the roads. However, the No-Free-Lunch theorem states that the performance of one platooning coordination strategy is not necessarily transferable to other problems. Moreover, especially in the field of SAS, the selection of the most appropriate strategy depends on the current situation of the system. In this paper, we address the problem of self-aware optimization of adaptation planning strategies by designing a framework that includes situation detection, strategy selection, and parameter optimization of the selected strategies. We apply our approach on the case study platooning coordination and evaluate the performance of the proposed framework.

Civic crowdfunding (CC) is a popular medium for raising funds for civic projects from interested agents. With Blockchains gaining traction, we can implement CC in a reliable, transparent, and secure manner with smart contracts (SCs). The fundamental challenge in CC is free-riding. PPR, the proposal by Zubrickas [23] of giving refund bonus to the contributors, in the case of the project not getting provisioned, has attractive properties. However, as observed by Chandra et al. [7], PPR faces a challenge wherein the agents defer their contribution until the deadline. We define this delaying of contributions as a race condition. To address this, their proposal, PPS, considers the temporal aspects of a contribution. However, PPS is computationally complex, expensive to implement as an SC, and it being sophisticated, it is difficult to explain to a layperson. In this work, our goal is to identify all essential properties a refund bonus scheme must satisfy in order to curb free-riding while avoiding the race condition. We prove Contribution Monotonicity and Time Monotonicity are sufficient conditions for this. We propose three elegant refund bonus schemes satisfying these two conditions leading to three novel mechanisms for CC - PPRG, PPRE, and PPRP. We show that PPRG is the most cost-effective mechanism when deployed as an SC. We show that under certain modest assumptions on valuations of the agents, in PPRG, the project is funded at equilibrium.

We propose a set of tools to replay wireless network traffic traces, while preserving the privacy of the original traces. Traces are generated by a user- and context-aware trained generative adversarial network (GAN). The replay allows for realistic traces from any number of users and of any trace duration to be produced given contextual parameters like the type of application and the real-time signal strength. We demonstrate the usefulness of the tools in three replay scenarios: Linux- and Android-station experiments and NS3 simulations. We also evaluate the ability of the GAN model to generate traces that retain key statistical properties of the original traces such as feature correlation, statistical moments, and novelty. Our results show that we beat both traditional statistical distribution fitting approaches as well as a state-of-the-art GAN time series generator across these metrics. The ability of our GAN model to generate any number of user traces regardless of the number of users in the original trace also makes our tools more practically applicable compared to previous GAN approaches. Furthermore, we present a use case where our tools were employed in a Wi-Fi research experiment.

Currently, mobile robots are developing rapidly and are finding numerous applications in industry. However, there remain a number of problems related to their practical use, such as the need for expensive hardware and their high power consumption levels. In this study, we propose a navigation system that is operable on a low-end computer with an RGB-D camera and a mobile robot platform for the operation of an integrated autonomous driving system. The proposed system does not require LiDARs or a GPU. Our raw depth image ground segmentation approach extracts a traversability map for the safe driving of low-body mobile robots. It is designed to guarantee real-time performance on a low-cost off-the-shelf single board computer with integrated SLAM, global path planning, and motion planning. We apply both rule-based and learning-based navigation policies using the traversability map. Running sensor data processing and other autonomous driving functions simultaneously, our navigation policies performs rapidly at a refresh rate of 18Hz for control command, whereas other systems have slower refresh rates. Our method outperforms current state-of-the-art navigation approaches within limited computation resources as shown in 3D simulation tests. In addition, we demonstrate the applicability of our mobile robot system through successful autonomous driving in an indoor environment. Our entire works including hardware and software are released under an open-source license (//github.com/shinkansan/2019-UGRP-DPoom). Our detailed video is available in //youtu.be/mf3IufUhPPM.

Since DARPA Grand Challenges (rural) in 2004/05 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. Almost at the same time, deep learning has made breakthrough by several pioneers, three of them (also called fathers of deep learning), Hinton, Bengio and LeCun, won ACM Turin Award in 2019. This is a survey of autonomous driving technologies with deep learning methods. We investigate the major fields of self-driving systems, such as perception, mapping and localization, prediction, planning and control, simulation, V2X and safety etc. Due to the limited space, we focus the analysis on several key areas, i.e. 2D and 3D object detection in perception, depth estimation from cameras, multiple sensor fusion on the data, feature and task level respectively, behavior modelling and prediction of vehicle driving and pedestrian trajectories.

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan view, for end-to-end control. We detect vehicles and pedestrians in the first person view and project them into an overhead plan view. This representation provides an abstraction of the environment from which a deep network can easily deduce the positions and directions of entities. Additionally, the plan view enables us to leverage advances in 3D object detection in conjunction with deep policy learning. We evaluate our monocular plan view network on the photo-realistic Grand Theft Auto V simulator. A network using both a plan view and front view causes less than half as many collisions as previous detection-based methods and an order of magnitude fewer collisions than pure pixel-based policies.

In the last few years, deep multi-agent reinforcement learning (RL) has become a highly active area of research. A particularly challenging class of problems in this area is partially observable, cooperative, multi-agent learning, in which teams of agents must learn to coordinate their behaviour while conditioning only on their private observations. This is an attractive research area since such problems are relevant to a large number of real-world systems and are also more amenable to evaluation than general-sum problems. Standardised environments such as the ALE and MuJoCo have allowed single-agent RL to move beyond toy domains, such as grid worlds. However, there is no comparable benchmark for cooperative multi-agent RL. As a result, most papers in this field use one-off toy problems, making it difficult to measure real progress. In this paper, we propose the StarCraft Multi-Agent Challenge (SMAC) as a benchmark problem to fill this gap. SMAC is based on the popular real-time strategy game StarCraft II and focuses on micromanagement challenges where each unit is controlled by an independent agent that must act based on local observations. We offer a diverse set of challenge maps and recommendations for best practices in benchmarking and evaluations. We also open-source a deep multi-agent RL learning framework including state-of-the-art algorithms. We believe that SMAC can provide a standard benchmark environment for years to come. Videos of our best agents for several SMAC scenarios are available at: //youtu.be/VZ7zmQ_obZ0.

Although deep reinforcement learning (deep RL) methods have lots of strengths that are favorable if applied to autonomous driving, real deep RL applications in autonomous driving have been slowed down by the modeling gap between the source (training) domain and the target (deployment) domain. Unlike current policy transfer approaches, which generally limit to the usage of uninterpretable neural network representations as the transferred features, we propose to transfer concrete kinematic quantities in autonomous driving. The proposed robust-control-based (RC) generic transfer architecture, which we call RL-RC, incorporates a transferable hierarchical RL trajectory planner and a robust tracking controller based on disturbance observer (DOB). The deep RL policies trained with known nominal dynamics model are transfered directly to the target domain, DOB-based robust tracking control is applied to tackle the modeling gap including the vehicle dynamics errors and the external disturbances such as side forces. We provide simulations validating the capability of the proposed method to achieve zero-shot transfer across multiple driving scenarios such as lane keeping, lane changing and obstacle avoidance.

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt with only a handful of trials (a dozen) and a few minutes? By analogy with the word "big-data", we refer to this challenge as "micro-data reinforcement learning". We show that a first strategy is to leverage prior knowledge on the policy structure (e.g., dynamic movement primitives), on the policy parameters (e.g., demonstrations), or on the dynamics (e.g., simulators). A second strategy is to create data-driven surrogate models of the expected reward (e.g., Bayesian optimization) or the dynamical model (e.g., model-based policy search), so that the policy optimizer queries the model instead of the real system. Overall, all successful micro-data algorithms combine these two strategies by varying the kind of model and prior knowledge. The current scientific challenges essentially revolve around scaling up to complex robots (e.g., humanoids), designing generic priors, and optimizing the computing time.