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The contribution describes a pedestrian navigation approach designed to improve localization accuracy in urban environments where GNSS performance is degraded, a problem that is especially critical for blind or low-vision users who depend on precise guidance such as identifying the correct side of a street. To address GNSS limitations and the impracticality of camera-based visual positioning, the work proposes a particle filter based fusion of GNSS and inertial data that incorporates spatial priors from maps, such as impassable buildings and unlikely walking areas, functioning as a probabilistic form of map matching. Inertial localization is provided by the RoNIN machine learning method, and fusion with GNSS is achieved by weighting particles based on their consistency with GNSS estimates and uncertainty. The system was evaluated on six challenging walking routes in downtown San Francisco using three metrics related to sidewalk correctness and localization error. Results show that the fused approach (GNSS+RoNIN+PF) significantly outperforms GNSS only localization on most metrics, while inertial-only localization with particle filtering also surpasses GNSS alone for critical measure

As cities grapple with traffic congestion and service inequities, mobility hubs offer a scalable solution to align increasing travel demand with sustainability goals. However, evaluating their impacts remains challenging due to the lack of behavioral models that integrate large-scale travel patterns with real-world hub usage. This study presents a novel data fusion approach that incorporates observed mobility hub usage into a mode choice model estimated with synthetic trip data. We identify trips potentially affected by mobility hubs and construct a multimodal sub-choice set, then calibrate hub-specific parameters using on-site survey data and ground truth trip counts. The enhanced model is used to evaluate mobility hub impacts on potential demand, mode shift, reduced vehicle miles traveled (VMT), and increased consumer surplus (CS). We apply this method to a case study in the Capital District, NY, using data from a survey conducted by the Capital District Transportation Authority (CDTA) and a mode choice model estimated using Replica Inc. synthetic data. The two implemented hubs located near UAlbany Downtown Campus and in Downtown Cohoes are projected to generate 8.83 and 6.17 mul

I study Hodge decomposition (HodgeRank) for urban traffic flow on two graph representations: dense origin--destination (OD) graphs and road-segment networks. Reproducing the method of Aoki et al., we observe that on dense OD graphs the curl and harmonic components are negligible and the potential closely tracks node divergence, limiting the added value of Hodge potentials. In contrast, on a real road network (UTD19, downtown Los Angeles; 15-minute resolution), potentials differ substantially from divergence and exhibit clear morning/evening reversals consistent with commute patterns. We quantify smoothness and discriminability via local/global variances derived from the graph spectrum, and propose flow-aware embeddings that combine topology, bidirectional volume, and net-flow asymmetry for clustering. Code and preprocessing steps are provided to facilitate reproducibility.

Wireless communication channels in Vehicular Ad-hoc NETworks (VANETs) suffer from packet losses, which severely influences the performance of their applications. There are several reasons for this loss, including but not limited to signal interference with itself after being reflected from the ground and other objects, the doppler effect caused by the speed of the vehicle, and buildings and other vehicles blocking the signal. As a result, VANET simulators must be calibrated in order to mimic the behavior of real-world vehicular communication channels effectively. In this paper, we calibrated an OMNET++(Objective Modular Network Testbed in C++)/Veins simulator for VANET's dedicated short-range communications (DSRC) protocol using the field data from the urban testbed in Downtown Chattanooga, TN. Channel propagation models, as well as physical layer parameters, were calibrated using a Genetic Algorithm (GA). The performance of the calibrated simulator was improved significantly in comparison with the default settings in Veins. The final results were compared to the real-world data collected from the testbed and performance shows that the final calibrated channel model performs better

Here we show that "exposure segregation" - the degree to which individuals of one group are exposed to individuals of another in day-to-day mobility - is dependent on the structure of cities, and the importance of downtowns in particular. Recent work uses aggregated data to claim that the location of amenities can inhibit or facilitate interactions between groups: if a city is residentially segregated, as many American cities are, then amenities between segregated communities should encourage them to mix. We show that the relationship between "bridging" amenities and socio-economic mixing breaks down when we examine the amenities themselves, rather than the urban aggregates. For example, restaurants with locations that suggest low expected mixing do not, much of the time, have low mixing: there is only a weak correlation between bridging and mixing at the level of the restaurant, despite a strong correlation at the level of the supermarket. This is because downtowns - and the bundle of amenities that define them - tend not to be situated in bridge areas but play an important role in drawing diverse groups together.

As the debate over the future of transportation continues in the midst of the COVID-19 pandemic as a deepening global crisis, taxi industry seems to be not spared by the quick and disrupting changes that may arise from the pandemic. The impact is relatively higher in major cities because of the high-density population and transportation congestion. In this study, we used spatial analysis and visualization to investigate the impact of the pandemic on the economics of the taxi industry and travel behavior using trip-by-trip data from the year of 2014 to 2020 in Chicago, IL. Results show that there is a drastic decline in the trips in the central city and airport areas. During the pandemic, people tended to travel longer distances, but travel times were considerably less because of the significant reduction in traffic volumes. Results also showed that the top twenty most popular pick-up and drop-off locations only included Chicago Downtown and OHare International Airport before the pandemic. However, during the pandemic, the top twenty most popular pick-up and drop-off locations is distributed between the Airport, the Downtown, as well as many other areas along Chicago Eastside.

The number of air transportation passengers during the holidays in Brazil has grown notably since the late nineties. One of the reasons is greater competition in airfares made possible by economic liberalization. This paper presents an econometric model of airline pricing aiming at estimating the impacts of holiday periods on fares, with special emphasis on three-day holiday events. It makes use of a database with daily collected data from the internet between 2008 and 2010 for the major Brazilian city, Sao Paulo. The econometric panel data model employs a two-way error components "within" estimator, controlling for airline/airport-pair fixed effect along with quotation and departure months effects. The decomposition of time effects between quotation and departure month effects is the main methodological contribution of the paper. Results allow for a comparative analysis of the performance of Sao Paulo's downtown and international airports - respectively, Congonhas (CGH), and Guarulhos (GRU) airports. As a result, the price of tickets bought 60 days in advance for flights with two stops leaving from the downtown airport fell by most.

Traffic congestion at intersections is a significant issue in urban areas, leading to increased commute times, safety hazards, and operational inefficiencies. This study aims to develop a predictive model for congestion at intersections in major U.S. cities, utilizing a dataset of trip-logging metrics from commercial vehicles across 4,800 intersections. The dataset encompasses 27 features, including intersection coordinates, street names, time of day, and traffic metrics (Kashyap et al., 2019). Additional features, such as rainfall/snowfall percentage, distance from downtown and outskirts, and road types, were incorporated to enhance the model's predictive power. The methodology involves data exploration, feature transformation, and handling missing values through low-rank models and label encoding. The proposed model has the potential to assist city planners and governments in anticipating traffic hot spots, optimizing operations, and identifying infrastructure challenges.

Sparse static detector networks in urban environments can be used in efforts to detect illicit radioactive sources, such as stolen nuclear material or radioactive "dirty bombs". We use detailed simulations to evaluate multiple configurations of detector networks and their ability to detect sources moving through a $6\times6$ km$^2$ area of downtown Chicago. A detector network's probability of detecting a source increases with detector density but can also be increased with strategic node placement. We show that the ability to fuse correlated data from a source-carrying vehicle passing by multiple detectors can significantly contribute to the overall detection probability. In this paper we distinguish static sensor deployments operated as networks able to correlate signals between sensors, from deployments operated as arrays where each sensor is operated individually. In particular, we show that additional visual attributes of source-carrying vehicles, such as vehicle color and make, can greatly improve the ability of a detector network to detect illicit sources.

When a centrally operated ride-hailing company considers to enter a market already served by another company, it has to make a strategic decision about how to distribute its fleet among different regions in the area. This decision will be influenced by the market share the company can secure and the costs associated with charging the vehicles in each region, all while competing with the company already operating in the area. In this paper, we propose a Colonel Blotto-like game to model this decision-making. For the class of games that we study, we first prove the existence and uniqueness of a Nash Equilibrium. Subsequently, we provide its general characterization and present an algorithm for computing the ones in the feasible set's interior. Additionally, for a simplified scenario involving two regions, which would correspond to a city area with a downtown and a suburban region, we also provide a method to check for the equilibria on the feasible set's boundary. Finally, through a numerical case study, we illustrate the impact of charging prices on the position of the Nash equilibrium.

Human-robot interaction requires to be studied in the wild. In the summers of 2022 and 2023, we deployed two trash barrel service robots through the wizard-of-oz protocol in public spaces to study human-robot interactions in urban settings. We deployed the robots at two different public plazas in downtown Manhattan and Brooklyn for a collective of 20 hours of field time. To date, relatively few long-term human-robot interaction studies have been conducted in shared public spaces. To support researchers aiming to fill this gap, we would like to share some of our insights and learned lessons that would benefit both researchers and practitioners on how to deploy robots in public spaces. We share best practices and lessons learned with the HRI research community to encourage more in-the-wild research of robots in public spaces and call for the community to share their lessons learned to a GitHub repository.

In 2018, the City of Kelowna entered into a license agreement with Dropbike to operate a dockless bike-share pilot in and around the downtown core. The bikes were tracked by the user's cell phone GPS through the Dropbike app. The City's Active Transportation team recognized that this GPS data could help understand the routes used by cyclists which would then inform decision-making for infrastructure improvements. Using OSMnx and NetworkX, the map of Kelowna was converted into a graph network to map inaccurate, infrequent GPS points to the nearest street intersection, calculate the potential paths taken by cyclists and count the number of trips by street segment though the comparison of different path-finding models. Combined with the data from four counters around downtown, a mixed effects statistical model and a least squares optimization were used to estimate a relationship between the different traffic patterns of the bike-share and counter data. Using this relationship based on sparse data input from physical counting stations and bike share data, estimations and visualizations of the annual daily bicycle volume in downtown Kelowna were produced. The analysis, modelling and vis

Fifth-generation (5G) networks are expected to provide high-precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight (LOS) communications between the user equipment (UE) and multiple BSs at the same time. Having access to a plethora of measurement sources grants the need for optimal integration between the BSs to have an accurate and precise positioning solution. Traditionally, 5G multi-BS fusion is conducted via an extended Kalman filter (EKF), that directly utilizes range and angle measurements in a centralized integration scheme. Such measurements have a non-linear relationship with the positioning states of the filter, giving rise to linearization errors. Counter to the common belief, an unscented Kalman filter (UKF) will fail to totally eradicate such linearization errors. In this paper, we argue that a decentralized integration between 5G BSs would fully avoid linearization errors within the filter and significantly enhance the positioning performance. This is done by fusing position measurements instead of directly fusing range and angle measurements, whic

5G mmWave technology can turn multipath into a friend, as multipath components become highly resolvable in the time and angle domains. Multipath signals have not only been used in the literature to position the user equipment (UE) but also to create a map of the surrounding environment. Yet, many multipath-based methods in the literature share a common assumption, which entails that multipath signals are caused by single-bounce reflections only, which is not usually the case. There are very few methods in the literature that accurately filters out higher-order reflections, which renders the exploitation of multipath signals challenging. This paper proposes an ensemble learning-based model for classifying signal paths based on their order of reflection using 5G channel parameters. The model is trained on a large dataset of 3.6 million observations obtained from a quasi-real ray-tracing based 5G simulator that utilizes 3D maps of real-world downtown environments. The trained model had a testing accuracy of 99.5%. A single-bounce reflection-based positioning method was used to validate the positioning error. The trained model enabled the positioning solution to maintain sub-30cm level

This paper examines the effects of hypercongestion mitigation by perimeter control and the introduction of autonomous vehicles on the spatial structures of cities. By incorporating a bathtub model, we develop a land use model where hypercongestion occurs in the downtown area and interacts with land use. We show that hypercongestion mitigation by perimeter control decreases the commuting cost in the short-run and results in a less dense urban spatial structure in the long-run. Furthermore, we reveal that the impact of autonomous vehicles depends on the presence of hypercongestion. Introduction of autonomous vehicles may increase the commuting cost in the presence of hypercongestion and cause a decrease in suburban population, but make cities spatially expanded outward.This result contradicts that of the standard bottleneck model. When perimeter control is implemented, the introduction of autonomous vehicles decreases the commuting cost and results in a less dense urban spatial structure. These results show that hypercongestion is a key factor that can change urban spatial structures.

To enable the computation of effective randomized patrol routes for single- or multi-robot teams, we present RoSSO, a Python package designed for solving Markov chain optimization problems. We exploit machine-learning techniques such as reverse-mode automatic differentiation and constraint parametrization to achieve superior efficiency compared to general-purpose nonlinear programming solvers. Additionally, we supplement a game-theoretic stochastic surveillance formulation in the literature with a novel greedy algorithm and multi-robot extension. We close with numerical results for a police district in downtown San Francisco that demonstrate RoSSO's capabilities on our new formulations and the prior work.

The growing significance of ridesourcing services in recent years suggests a need to examine the key determinants of ridesourcing demand. However, little is known regarding the nonlinear effects and spatial heterogeneity of ridesourcing demand determinants. This study applies an explainable-machine-learning-based analytical framework to identify the key factors that shape ridesourcing demand and to explore their nonlinear associations across various spatial contexts (airport, downtown, and neighborhood). We use the ridesourcing-trip data in Chicago for empirical analysis. The results reveal that the importance of built environment varies across spatial contexts, and it collectively contributes the largest importance in predicting ridesourcing demand for airport trips. Additionally, the nonlinear effects of built environment on ridesourcing demand show strong spatial variations. Ridesourcing demand is usually most responsive to the built environment changes for downtown trips, followed by neighborhood trips and airport trips. These findings offer transportation professionals nuanced insights for managing ridesourcing services.

In this paper, we propose SceNDD: a scenario-based naturalistic driving dataset that is built upon data collected from an instrumented vehicle in downtown Indianapolis. The data collection was completed in 68 driving sessions with different drivers, where each session lasted about 20--40 minutes. The main goal of creating this dataset is to provide the research community with real driving scenarios that have diverse trajectories and driving behaviors. The dataset contains ego-vehicle's waypoints, velocity, yaw angle, as well as non-ego actor's waypoints, velocity, yaw angle, entry-time, and exit-time. Certain flexibility is provided to users so that actors, sensors, lanes, roads, and obstacles can be added to the existing scenarios. We used a Joint Probabilistic Data Association (JPDA) tracker to detect non-ego vehicles on the road. We present some preliminary results of the proposed dataset and a few applications associated with it. The complete dataset is expected to be released by early 2023.