Related papers: Nonlinear dynamics of autonomous vehicles with lim…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
Simulation has played an important role in efficiently evaluating self-driving vehicles in terms of scalability. Existing methods mostly rely on heuristic-based simulation, where traffic participants follow certain human-encoded rules that…
This paper introduces a new method for assessing the boundedness and stability of certain vector nonlinear systems with delays and variable coefficients. The approach is based on developing scalar counterparts to the given vector systems.…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
For a non-linear MIMO feedback system, the robustness against uncertain time-variations in the feedback loop is investigated in an input-output framework. A general sufficient condition in terms of a bound on average rates of time-variation…
We develop a framework to give upper bounds on the "practical" computational complexity of stability problems for a wide range of nonlinear continuous and hybrid systems. To do so, we describe stability properties of dynamical systems using…
Achieving safety is a critical aspect of attaining autonomy in a platoon of autonomous vehicles. In this paper, we propose a distributionally robust risk framework to investigate cascading failures in platoons. To examine the impact of…
We study delay-independent stability in nonlinear models with a distributed delay which have a positive equilibrium. Such models frequently occur in population dynamics and other applications. In particular, we construct a relevant…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
We prove global existence, uniqueness and $\L1$ stability of solutions to general systems of nonlocal conservation laws modeling multiclass vehicular traffic. Each class follows its own speed law and has specific effects on the other…
We consider the problem of controlling a vehicle to arrive at a fixed destination while minimizing a combination of energy consumption and travel time. Our model includes vehicle speed and accelaration limits, aerodynamic drag, rolling…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
In this paper, we present a novel framework for quantifying a lower bound on resilience in continuous-time (non)linear systems subject to external disturbances while ensuring satisfaction of signal temporal logic specifications. Unlike…
In this paper we consider interacting particle systems which are frequently used to model collective behavior in animal swarms and other applications. We study the stability of orientationally aligned formations called flock solutions, one…
Reaction delays play an important role in determining the qualitative dynamical properties of a platoon of vehicles traversing a straight road. In this paper, we investigate the impact of delayed feedback on the dynamics of the Classical…
By analyzing data from a car-following experiment, it is shown that drivers control their car by a simple scheme. The acceleration $a(t)$ is held approximately constant for a certain time interval, followed by a jump to a new acceleration.…
We complete the first step towards the resolution of several decades-old challenges in disturbance-robust adaptive control. For a scalar linear system with an unknown parameter for which no a priori bound is given, with a disturbance that…