Dr. Javier Alonso-Mora, Assistant Professor

Autonomous Multi-Robots Lab. Delft University of Technology

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Autonomous Vehicles (Urban driving)

We contribute motion planning, decision-making and control methods for self-driving cars in urban environments. In particular, we rely on tools for nonlinear optimization (NMPC) combined with formal methods, Bayesian inference and consensus. We have developed methods for:
- Joint behavior estimation and trajectory planning
- Distributed trajectory planning (D-MPC)
- Parallel autonomy
- Verification of motion planners
- Integrated sensing and planning
Watch demos of our autonomous car

Social behavior for autonomous vehicles
W. Schwarting, A. Pearson, J. Alonso-Mora, S. Karaman, D. Rus
Proceedings of the National Academy of Sciences USA (PNAS), Nov. 2019.
[web], [PDF], [PDF-supplemental], [video]

Trajectory Optimization and Situational Analysis Framework for Autonomous Overtaking with Visibility Maximization
H. Andersen, J. Alonso-Mora, Y.H. Eng, D. Rus and M. Ang
IEEE Transactions on Intelligent Vehicles (T-IV), to appear.
[PDF] [video]

Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments
B. Brito, B. Floor, L. Ferranti and J. Alonso-Mora
IEEE Robotics and Automation Letters (RA-L), Jul. 2019.
[PDF] [video] [code]

Planning and Decision-Making for Autonomous Vehicles
W. Schwarting, J. Alonso-Mora, and D. Rus
Annual Review of Control, Robotics, and Autonomous Systems, vol. 1, pp. 187-210, May 2018.
[PDF] [web]

Safe Nonlinear Trajectory Generation for Parallel Autonomy With a Dynamic Vehicle Model
W. Schwarting, J. Alonso-Mora, L. Paull, S. Karaman and D. Rus
IEEE Transactions on Intelligent Transportation Systems, Dec. 2017.
[PDF] [video]

SafeVRU: A Research Platform for the Interaction of Self-Driving Vehicles with Vulnerable Road Users
L. Ferranti, B. Brito, E. Pool, Y. Zheng, R. M. Ensing, R. Happee, B. Shyrokau, J. Kooij, J. Alonso-Mora and D. M. Gavrila
Proc. IEEE Intelligent Vehicles Symposium. June 2019.
[PDF] [video]

Coordination of Multiple Vessels Via Distributed Nonlinear Model Predictive Control
L. Ferranti, R. R. Negenborn, T. Keviczky, and J. Alonso-Mora
Proc. European Control Conference (ECC), June 2018.
[PDF] [video]

Joint Multi-Policy Behavior Estimation and Receding-Horizon Trajectory Planning for Automated Urban Driving
B. Zhou, W. Schwarting, D. Rus, and J. Alonso-Mora
Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), May 2018.
[PDF] [video spotlight] [video exp]

Compositional and Contract-based Verification for Autonomous Driving on Road Networks
L. Liebenwein, W. Schwarting, C.-I. Vasile, J. DeCastro, J. Alonso-Mora, S. Karaman, and D. Rus
Proc. of the Int. Symp. on Robotics Research (ISRR), December 2017.

Trajectory Optimization for Autonomous Overtaking with Visibility Maximization
H. Andersen, W. Schwarting, F. Naser, Y. H. Eng, M. H. Ang Jr, D. Rus, and J. Alonso-Mora
Proc. IEEE Intelligent Transportation Systems Conference, October 2017.
[PDF] [video]

Foresight: Remote Sensing For Autonomous Vehicles Using a Small Unmanned Aerial Vehicle
A. Wallar, B. Araki, R. Chang, J. Alonso-Mora and D. Rus
Proc. of the Conf. on Field and Service Robotics (FSR), September 2017.
[PDF] [video]

A Parallel Autonomy Research Platform
F. Naser, D. Dorhout, S. Proulx, S. D. Pendleton, H. Andersen, W. Schwarting, L. Paull, J. Alonso-Mora, M. H. Ang Jr., S. Karaman, R. Tedrake, J. Leonard, D. Rus
Proc. of the IEEE Symposium on Intelligent Vehicles (IV), June 2017.
[PDF] [video]

Parallel Autonomy in Automated Vehicles: Safe Motion Generation with Minimal Intervention
W. Schwarting, J. Alonso-Mora, L. Paull, S. Karaman, and D. Rus
Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), June 2017.
[PDF] [video]