Related papers: Robust Supervisors for Intersection Collision Avoi…

Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

In the current control design of safety-critical autonomous systems, formal verification techniques are typically applied after the controller is designed to evaluate whether the required properties (e.g., safety) are satisfied. However,…

We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…

This paper proposes a traffic control scheme to alleviate traffic congestion in a network of interconnected signaled lanes/roads. The proposed scheme is emergency vehicle-centered, meaning that it provides an efficient and timely routing…

Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…

The control of traffic signals is fundamental and critical to alleviate traffic congestion in urban areas. However, it is challenging since traffic dynamics are complicated in real-world scenarios. Because of the high complexity of the…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Eco-driving strategies have demonstrated substantial potential for improving energy efficiency and reducing emissions, especially at signalized intersections. However, evaluations of eco-driving methods typically rely on simplified…

We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…

The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…

In this paper, we propose a decision making algorithm intended for automated vehicles that negotiate with other possibly non-automated vehicles in intersections. The decision algorithm is separated into two parts: a high-level decision…

In this paper, we discuss a supervisory control problem of modular discrete-event systems that allows for a distributed computation of supervisors. We provide a characterization and an algorithm to compute the supervisors. If the…

In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…

The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…

A supervisory controller controls and coordinates the behavior of different components of a complex machine by observing their discrete behaviour. Supervisory control theory studies automated synthesis of controller models, known as…

Traffic intersections are important scenes that can be seen almost everywhere in the traffic system. Currently, most simulation methods perform well at highways and urban traffic networks. In intersection scenarios, the challenge lies in…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…