Related papers: Nonlinear dynamics of autonomous vehicles with lim…
We study the problem of determining self-sustained oscillations in discrete-time linear time-invariant relay feedback systems. Concretely, we are interested in predicting when such a system admits unimodal oscillations, i.e., when the…
We propose a microscopic traffic model where the update velocity is determined by the deceleration capacity and response time. It is found that there is a class of collisions that cannot be distinguished by simply comparing the stop…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
We study the dynamics of vehicular traffic in a loop using a car-following model with the consideration of volume exclusions. In particular, we solve the steady state for the single-cluster case and derive fundamental diagrams, exhibiting…
Linear stability of synchronized states in networks of delay-coupled oscillators depends on the type of interaction, the network and oscillator properties. For inert oscillator response, found ubiquitously from biology to engineering,…
In recent years, we have witnessed increasingly high performance in the field of autonomous end-to-end driving. In particular, more and more research is being done on driving in urban environments, where the car has to follow high level…
One approach to robust control for linear plants with structured uncertainty as well as for linear parameter-varying (LPV) plants (where the controller has on-line access to the varying plant parameters) is through…
We analyzed the stability of the uniform flow solution in the optimal velocity model for traffic and granular flow under the open boundary condition. It was demonstrated that, even within the linearly unstable region, there is a parameter…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
Estimation of the degree of stability and the bounds of solutions to non-autonomous nonlinear systems present major concerns in numerous applied problems. Yet, current techniques are frequently yield overconservative conditions which are…
We study a nonlocal particle model describing traffic flow on rough roads. In the model, each driver adjusts the speed of the car according to the condition over an interval in the front, leading to a system of nonlocal ODEs which we refer…
Dynamic perturbation equations are derived for a generic stationary state of an elastic string model -- of the kind appropriate for representing a superconducting cosmic string -- in a flat background. In the case of a circular equilibrium…
Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…
A general sufficient condition for the convergence of subsequences of solutions of non-autonomous, nonlinear difference equations and systems is obtained. For higher order equations the delay sizes and patterns play essential roles in…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
Stability is a fundamental concept that refers to a system's ability to return close to its original state after disturbances. The minimal conditions for stability when system parameters vary in time, though common in physics, have been…
This paper reports an experimental study on oscillation growth in mixed traffic flow of automated vehicles (AVs) and human driven vehicles (HVs). The leading vehicle moves with constant speed in the experiment. The following vehicles…