Related papers: Safe and Stabilizing Distributed Multi-Path Cellul…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
We propose a distributed algorithm for controlling traffic signals, allowing constraints such as periodic switching sequences of phases and minimum and maximum green time to be incorporated. Our algorithm is adapted from backpressure…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Ensuring safe separation between aircraft is a critical challenge in air traffic management, particularly in urban air mobility (UAM) environments where high traffic density and low altitudes require precise control. In these environments,…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
We study the impact of a localized defect in a cellular automaton model for traffic flow which exhibits metastable states and phase separation. The defect is implemented by locally limiting the maximal possible flow through an increase of…
This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…
In recent years the modelling of traffic flow using methods from statistical physics, especially cellular automata models have allowed simulations of large traffic networks faster than real time. In this paper, we study a probabilistic…
Summary: Traffic light coordination is a complex problem. In this paper, we extend previous work on an abstract model of city traffic to allow for multiple street intersections. We test a self-organizing method in our model, showing that it…
This paper presents a distributed synchronization strategy for connected and automated vehicles in traffic networks. The strategy considers vehicles traveling from one intersection to the next as waves. The phase angle and frequency of each…
In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Implementing a component-based system in a distributed way so that it ensures some global constraints is a challenging problem. We consider here abstract specifications consisting of a composition of components and a controller given in the…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
In this paper, we investigate traffic signal control in a network of interconnected intersections, aiming to balance lane-level vehicle densities through optimal green-time allocation. We develop a two-lane traffic flow model that…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…