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.
[PDF]

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]