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This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…

This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

In this paper, a risk map-based path planning algorithm is introduced for autonomous vehicles. Multivariate B-splines are implemented to generate a risk map, which measures the risk of colliding with different objects. In the following…

Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…

Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

Speed advisory systems for connected vehicles rely on the estimation of green (or red) light duration at signalized intersections. A particular challenge is to predict the signal phases of semi- and fully-actuated traffic lights. In this…

The safety of Automated Vehicles (AVs) must be assured before their release and deployment. The current approach to evaluation relies primarily on (i) testing AVs on public roads or (ii) track testing with scenarios defined in a test…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…

The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control aimed at optimizing energy consumption with associated benefits. In this paper, we implement an optimal…

A microscopic theory of control of spatial-temporal congested traffic pattern at freeway bottlenecks is presented. Based on empirical spatial-temporal features of congested patterns at freeway bottlenecks which have recently been found,…

The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…