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High-Density Automated Valet Parking with Relocation-Free Sequential Operations

Bon Choe, Minhee Kang, Heejin Ahn

Abstract

In this paper, we present DROP, high-Density Relocation-free sequential OPerations in automated valet parking. DROP addresses the challenges in high-density parking & vehicle retrieval without relocations. Each challenge is handled by jointly providing area-efficient layouts and relocation-free parking & exit sequences, considering accessibility with relocation-free sequential operations. To generate such sequences, relocation-free constraints are formulated as explicit logical conditions expressed in boolean variables. Recursive search strategies are employed to derive the logical conditions and enumerate relocation-free sequences under sequential constraints. We demonstrate the effectiveness of our framework through extensive simulations, showing its potential to significantly improve area utilization with relocation-free constraints. We also examine its viability on an application problem with prescribed operational order. The results from all experiments are available at: https://drop-park.github.io.

High-Density Automated Valet Parking with Relocation-Free Sequential Operations

Abstract

In this paper, we present DROP, high-Density Relocation-free sequential OPerations in automated valet parking. DROP addresses the challenges in high-density parking & vehicle retrieval without relocations. Each challenge is handled by jointly providing area-efficient layouts and relocation-free parking & exit sequences, considering accessibility with relocation-free sequential operations. To generate such sequences, relocation-free constraints are formulated as explicit logical conditions expressed in boolean variables. Recursive search strategies are employed to derive the logical conditions and enumerate relocation-free sequences under sequential constraints. We demonstrate the effectiveness of our framework through extensive simulations, showing its potential to significantly improve area utilization with relocation-free constraints. We also examine its viability on an application problem with prescribed operational order. The results from all experiments are available at: https://drop-park.github.io.
Paper Structure (16 sections, 2 equations, 6 figures, 3 tables, 4 algorithms)

This paper contains 16 sections, 2 equations, 6 figures, 3 tables, 4 algorithms.

Table of Contents

  1. Introduction
  2. Problem Statement
  3. Motivation
  4. Problem Definition
  5. Proposed Framework
  6. Solution 1
  7. Layout Generation and Postprocessing
  8. Accessibility Analysis
  9. Skipping Infeasible Layouts
  10. Deriving Accessibility Conditions
  11. Generating Valid Relocation-free Sequences
  12. Solution 2
  13. Simulation Experiment
  14. Experiment Setup
  15. Results
  16. ...and 1 more sections

Figures (6)

  • Figure 1: Comparison of the proposed framework DROP with conventional parking lot and high-density parking.
  • Figure 2: Overview of our DROP framework.
  • Figure 3: Unique parking lot layouts for the instance 15x12.
  • Figure 4: Adjacency graph for unique layouts for the instance 15x12.
  • Figure 5: Accessibility derivation results in layout 2 of instance 15x12.
  • ...and 1 more figures