Related papers: Freeway ramp metering control made easy and effici…
In this paper we address the problem to compute state dependent feedback controls for path integral control problems. To this end we generalize the path integral control formula and utilize this to construct parameterized state dependent…
In the context of autonomous driving on expressways, the issue of ensuring safe and efficient ramp merging remains a significant challenge. Existing systems often struggle to accurately assess the status and intentions of other vehicles,…
A new "model-free" control methodology is applied to a boost power converter. The properties of the boost converter allow to evaluate the performances of the model-free strategy in the case of switching nonlinear transfer functions,…
Using a recently developed microscopic traffic model, we simulate how speed limits, on-ramp controls, and vehicle-based driver-assistance systems influence freeway traffic. We present results for a section of the German Autobahn A8-East.…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
Perimeter control maintains high traffic efficiency within protected regions by controlling transfer flows among regions to ensure that their traffic densities are below critical values. Existing approaches can be categorized as either…
Free-flow road networks, such as suburban highways, are increasingly experiencing traffic congestion due to growing commuter inflow and limited infrastructure. Traditional control mechanisms, such as traffic signals or local heuristics, are…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
Accurate simulation of complex physical systems enables the development, testing, and certification of control strategies before they are deployed into the real systems. As simulators become more advanced, the analytical tractability of the…
Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is…
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time,…
We consider Ramp Metering (RM) at the microscopic level subject to vehicle following safety constraints for a freeway with arbitrary number of on- and off-ramps. The arrival times of vehicles to the on-ramps, as well as their destinations…
This study proposes a coordinated ramp metering control framework in large networks based on scalable nonlinear traffic dynamics model discovery. Existing coordinated ramp metering control methods often require accurate traffic dynamics…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
The data presented here show that human drivers apply a discrete noisy control mechanism to drive their vehicle. A car-following model built on these observations, together with some physical limitations (crash-freeness, acceleration), led…
In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…
In this paper we develop a Model Predictive Path Integral (MPPI) control algorithm based on a generalized importance sampling scheme and perform parallel optimization via sampling using a Graphics Processing Unit (GPU). The proposed…
We propose a macroscopic traffic network flow model suitable for analysis as a dynamical system, and we qualitatively analyze equilibrium flows as well as convergence. Flows at a junction are determined by downstream supply of capacity as…
We introduce the notion of importance sampling under embedded barrier state control, titled Safety Controlled Model Predictive Path Integral Control (SC-MPPI). For robotic systems operating in an environment with multiple constraints, hard…
We consider the problem of correct motion planning for T-intersection merge-ins of arbitrary geometry and vehicle density. A merge-in support system has to estimate the chances that a gap between two consecutive vehicles can be taken…