Related papers: Nonlinear dynamics of autonomous vehicles with lim…
A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
This paper deals with the problem of string stability in a chain of acceleration-controlled vehicles, i.e. how input disturbances affect the distributed system for very long chains. There exist variants of string stability, like avoiding…
This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the…
A generalized optimal velocity model is analyzed, where the optimal velocity function depends not only on the headway of each car but also the headway of the immediately preceding one. The stability condition of the model is derived by…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and…
We study the stability margin of a vehicular formation with distributed control, in which the control at each vehicle only depends on the information from its neighbors in an information graph. We consider a D-dimensional lattice as…
We quantify the value-at-risk of inter-vehicle collision and detachment for a class of platoons, which are governed by second-order dynamics in presence of communication time-delay and exogenous stochastic noise. Closed-form expressions for…
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
The stability of quantum systems to perturbations of the Hamiltonian is studied. This stability is quantified by the fidelity. Dependence of fidelity on the initial state as well as on the dynamical properties of the system is considered.…
Driven many-particle systems with nonlinear interactions are known to often display multi-stability, i.e. depending on the respective initial condition, there may be different outcomes. Here, we study this phenomenon for traffic models,…
We use the entropy method to analyze the nonlinear dynamics and stability of a continuum kinetic model of an active nematic suspension. From the time evolution of the relative entropy -- an energy-like quantity in the kinetic model -- we…
Both humans and the sensors on an autonomous vehicle have limited sensing capabilities. When these limitations coincide with scenarios involving vulnerable road users, it becomes important to account for these limitations in the motion…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
We derive a simple and general relation between the fidelity of quantum motion, characterizing the stability of quantum dynamics with respect to arbitrary static perturbation of the unitary evolution propagator, and the integrated time…
Autonomated vehicles (AVs) are expected to have a profound impact on society, with high expectations for their potential benefits. One key anticipated benefit is the reduction of traffic congestion and stop-and-go waves, which negatively…
This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting…