RoboSense: Leveraging Robotaxi Fleets as Drive-by Sensors for Urban Traffic Monitoring
Published in arXiv preprint; under revision at Transportation Research Part C, 2026
Manuscript under revision at Transportation Research Part C: Emerging Technologies; the preprint was posted on arXiv on Sept 6, 2026. RoboSense is a dynamic routing framework that turns centrally controlled robotaxi fleets into cooperative drive-by sensors for urban traffic monitoring. It combines a cell-based network representation built on Cell Transmission Model (CTM) traffic-state prediction, a cell-level spatiotemporal coverage metric, and a rolling-horizon MILP that trades off passenger travel time against network monitoring coverage. Details: project page and code on GitHub.
Recommended citation: Yilin Wang, Yiheng Feng* (2026). "RoboSense: Leveraging Robotaxi Fleets as Drive-by Sensors for Urban Traffic Monitoring." Under revision at Transportation Research Part C: Emerging Technologies. Preprint: arXiv:2609.06813.
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