Below are some examples of publications produced through the Traffic21 Institute’s T-SET UTC. For a complete listing of publications produced as part of the Traffic21 Institute, click here. This list can be sorted (by grant cycle, keyword search, or researcher name). Publications are available in the project records under “Documents.”

Boban, Mate, Wantanee Viriyasitavat, and Ozan Tonguz. “Modeling Vehicle-to-Vehicle Line of Sight Channels and its Impact on Application-Level Performance Metrics.” ACM International Workshop on Vehicular Inter-Networking (VANET), Poster. 2013.

Cho, Hyunggi, Paul E. Rybski, and Wende Zhang. “Vision-based bicycle detection and tracking using a deformable part model and an EKF algorithm.”Intelligent Transportation Systems (ITSC), 2010 13th International IEEE Conference on. IEEE, 2010.

Cho, Hyunggi, Paul E. Rybski, and Wende Zhang. “Vision-based bicyclist detection and tracking for intelligent vehicles.” Intelligent Vehicles Symposium (IV), 2010 IEEE. IEEE, 2010.

Darms, Michael S., et al. “Obstacle detection and tracking for the urban challenge.” Intelligent Transportation Systems, IEEE Transactions on 10.3 (2009): 475-485.

Darms, Michael, Paul E. Rybski, and Chris Urmson. “A multisensor multiobject tracking system for an autonomous vehicle driving in an urban environment.” (2008).

Darms, Michael, Paul Rybski, and Chris Urmson. “Classification and tracking of dynamic objects with multiple sensors for autonomous driving in urban environments.” Intelligent Vehicles Symposium, 2008 IEEE. IEEE, 2008.

Fabusuyi, Tayo, Robert C. Hampshire, and Victoria Hill. “Evaluation of a Smart Parking System.” Transportation Research Record: Journal of the Transportation Research Board 2359.1 (2013): 10-16.


Hu, Yang, et al. “Recommendations for Implementing Bus Rapid Transit in Pittsburgh’s Oakland-Uptown-Downtown Transit Corridor.” (2011).

Kothari, Nisarg, et al. “Robust indoor localization on a commercial smart phone.” Procedia Computer Science 10 (2012): 1114-1120.

Kurtz, Zachary, et al. “Optimizing Bus Rapid Transit, Downtown to Oakland.” (2011)

Lee, Daniel D. UPenn Multi-Robot Unmanned Vehicle System (MAGIC). PENNSYLVANIA UNIV PHILADELPHIA, 2014.

Liao, Cong, et al. “A trust model for vehicular network-based incident reports.”Wireless Vehicular Communications (WiVeC), 2013 IEEE 5th International Symposium on. IEEE, 2013.

Liu, Siyuan, Yisong Yue, and Ramayya Krishnan. “Adaptive collective routing using gaussian process dynamic congestion models.” Proceedings of the 19th ACM SIGKDD international conference on Knowledge discovery and data mining. ACM, 2013

Loos, Sarah M., André Platzer, and Ligia Nistor. “Adaptive cruise control: Hybrid, distributed, and now formally verified.” FM 2011: Formal Methods. Springer Berlin Heidelberg, 2011. 42-56.

Loos, Sarah M., and André Platzer. “Safe intersections: At the crossing of hybrid systems and verification.” Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on. IEEE, 2011.

Marla, Lavanya, Cynthia Barnhart, and Varun Biyani. “A decomposition approach for commodity pickup and delivery with time-windows under uncertainty.” Journal of Scheduling (2013): 1-18.

Mangharam, Rahul, and Miroslav Pajic. “Distributed Control for Cyber-Physical Systems.”Journal of the Indian Institute of Science, Special Issue on Cyber-Physical Systems, Vol.93, No.3. (2013).

Millard-Ball, Adam, Rachel Weinberger, and Jeffrey Hampshire. “Is the curb 80% full or 20% empty? Assessing the efficacy of San Francisco’s parking experiment.” Annual Meeting of the Transportation Research Board. 2013.

Mitsch, Stefan, Grant Olney Passmore, and André Platzer. “Collaborative Verification-Driven Engineering of Hybrid Systems.” Mathematics in Computer Science 8.1 (2014): 71-97.

Pant, Yash Vardhan, Truong X. Nghiem, and Rahul Mangharam. “Peak Power Control of Battery and Super-capacitor Energy Systems in Electric Vehicles.” (2014).

Peterson, Kevin, Jason Ziglar, and Paul E. Rybski. “Fast feature detection and stochastic parameter estimation of road shape using multiple LIDAR.” Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. IEEE, 2008.

Platzer, André. “Quantified differential dynamic logic for distributed hybrid systems.” Computer Science Logic. Springer Berlin Heidelberg, 2010.

Platzer, André. “Differential dynamic logic for hybrid systems.” Journal of Automated Reasoning 41.2 (2008): 143-189.

Platzer, André, and Jan-David Quesel. “European Train Control System: A case study in formal verification.” Formal Methods and Software Engineering. Springer Berlin Heidelberg, 2009. 246-265.

Platzer, André, and Edmund M. Clarke. Formal verification of curved flight collision avoidance maneuvers: A case study. Springer Berlin Heidelberg, 2009.

Platzer, André. “Logical Analysis of Hybrid Systems-A Complete Answer to a Complexity Challenge.” DCFS 7386 (2012): 43-49.

Price, William, et al. “ProtoDrive: an experimental platform for electric vehicle energy scheduling and control.” ACM SIGBED Review 10.2 (2013): 33-33.

Reis, Andre B., et al. “Deploying Road Side Units in Sparse Vehicular Networks: What Really Works and What Does Not.” (2013).

Rubinstein, Zachary B., Stephen F. Smith, and Laura Barbulescu. “Incremental Management of Oversubscribed Vehicle Schedules in Dynamic Dial-A-Ride Problems.” AAAI. 2012.

Rybski, Paul E., et al. “Visual classification of coarse vehicle orientation using histogram of oriented gradients features.” Intelligent Vehicles Symposium (IV), 2010 IEEE. IEEE, 2010.

Smith, Stephen F., et al. “Smart Urban Signal Networks: Initial Application of the SURTRAC Adaptive Traffic Signal Control System.” ICAPS. 2013.

Smith, Stephen F., et al. Real-time adaptive traffic signal control for urban road networks: The East Liberty pilot test. CMU-RI-TR-12-20, The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 2012.

Tamburo, Robert, et al. “Programmable Automotive Headlights.” Computer Vision–ECCV 2014. Springer International Publishing, 2014. 750-765.

Tian, Yuandong, and Srinivasa G. Narasimhan. “Hierarchical Data-driven Descent for Efficient Optimal Deformation Estimation.” Computer Vision (ICCV), 2013 IEEE International Conference on. IEEE, 2013.

Tonguz, Ozan K., and Wantanee Viriyasitavat. “Cars as roadside units: a self-organizing network solution.” Communications Magazine, IEEE 51.12 (2013): 112-120.

Tron, Roberto, et al. “Vision-based formation control of aerial vehicles.”

Tron, Roberto, and Kostas Daniilidis. “An optimization approach to bearing-only visual homing with applications to a 2-D unicycle model.” Robotics and Automation (ICRA), 2014 IEEE International Conference on. IEEE, 2014.

Urmson, Chris, et al. “Autonomous driving in traffic: Boss and the urban challenge.” AI Magazine 30.2 (2009): 17.

Urmson, Chris, et al. “Autonomous driving in urban environments: Boss and the urban challenge.” Journal of Field Robotics 25.8 (2008): 425-466.

Wei, Junqing, et al. “Towards a viable autonomous driving research platform.”Intelligent Vehicles Symposium (IV), 2013 IEEE. IEEE, 2013.

Xie, Xiao-Feng, et al. “Coping with real-world challenges in real-time urban traffic control.” Compendium of Papers of the 93rd Annual Meeting of the Transportation Research Board. 2014.

Xie, Xiao-Feng, et al. “Unified Route Choice Framework and Empirical Study in Urban Traffic Control Environment.” (2013).

Xie, Xiao-Feng, et al. “Schedule-driven intersection control.” Transportation Research Part C: Emerging Technologies 24 (2012): 168-189.

Xie, Xiao-Feng, Stephen F. Smith, and Gregory J. Barlow. “Schedule-Driven Coordination for Real-Time Traffic Network Control.” ICAPS. 2012.

Yue, Yisong, Lavanya Marla, and Ramayya Krishnan. “An Efficient Simulation-Based Approach to Ambulance Fleet Allocation and Dynamic Redeployment.”AAAI. 2012.

Zimmerman, John, et al. “Field trial of tiramisu: crowd-sourcing bus arrival times to spur co-design.” Proceedings of the SIGCHI Conference on Human Factors in Computing Systems. ACM, 2011.