Related papers: Wave-absorbing vehicular platoon controller
Stop-and-go waves in traffic flow pose a persistent challenge, compromising safety, efficiency, and environmental sustainability. This paper introduces a novel mitigation strategy discovered through training multi-agent deep reinforcement…
When deploying robots in shallow ocean waters, wave disturbances can be significant, highly dynamic and pose problems when operating near structures; this is a key limitation of current control strategies, restricting the range of…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
Reliable wireless communication between the autonomously driving cars is one of the fundamental needs for guaranteeing passenger safety and comfort. However, when the number of communicating cars increases, the transmission quality may be…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However,…
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…
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 coherent control of wave absorption has important applications in areas such as energy harvesting, imaging, and sensing. However, most practical scenarios involve the absorption of partially coherent rather than fully coherent waves.…
We introduce a novel distributed control architecture for heterogeneous platoons of linear time--invariant autonomous vehicles. Our approach is based on a generalization of the concept of {\em leader--follower} controllers for which we…
Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…