Related papers: H-infinity Filtering for Cloud-Aided Semi-active S…
We analyze and design H-infinity controllers for general time-delay systems with time-delays in systems' state, inputs and outputs. We allow the designer to choose the order of the controller and to introduce constant time-delays in the…
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
Edge-assisted vehicle-to-everything (V2X) motion planning is an emerging paradigm to achieve safe and efficient autonomous driving, since it leverages the global position information shared among multiple vehicles. However, due to the…
High-speed cruising scenarios with mixed traffic greatly challenge the road safety of autonomous vehicles (AVs). Unlike existing works that only look at fundamental modules in isolation, this work enhances AV safety in mixed-traffic…
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe,…
In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…
Understanding multi-vehicle interactive behaviors with temporal sequential observations is crucial for autonomous vehicles to make appropriate decisions in an uncertain traffic environment. On-demand similarity measures are significant for…
Millimeter wave (mmWave) communication, utilizing beamforming techniques to address the inherent path loss limitation, is considered as one of the key technologies to support ever increasing high throughput and low latency demands of…
Intelligent vehicles in autonomous driving and obstacle avoidance, the precise relative state of vehicles put forward a higher demand. For a vehicle-borne sensor network with time-varying transmission delays, the problem of coordinate…
This paper gives a new solution to the output feedback H_2 model matching problem for a large class of delayed information sharing patterns. Existing methods for such problems typically reduce the decentralized problem to a centralized…
An eigenvalue based framework is developed for the H-infinity norm analysis and its norm minimization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations (DDAEs). For these equations…
Airport performance prediction with a reasonable look-ahead time is a challenging task and has been attempted by various prior research. Traffic, demand, weather, and traffic management actions are all critical inputs to any prediction…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…
In many practical applications, signals and environments are time- varying, which makes fixed filters unreliable. Adaptive filtering, on the other hand, updates in real time to suppress noise, track nonstationary signals, and identify…
In this paper, we consider the delay-constrained beamforming control for downlink multi-user MIMO (MU- MIMO) systems with imperfect channel state information at the transmitter (CSIT). The delay-constrained control problem is formulated as…
Model predictive control (MPC) schemes are commonly designed with fixed, i.e., time-invariant, horizon length and cost functions. If no stabilizing terminal ingredients are used, stability can be guaranteed via a sufficiently long horizon.…
This paper presents a safety-critical reinforcement learning framework for nonlinear dynamical systems with continuous state and input spaces operating under explicit physical constraints. Hard safety constraints are enforced independently…
The connected vehicle (CV) data could potentially revolutionize the traffic monitoring landscape as a new source of CV data that are collected exclusively from original equipment manufactures (OEMs) have emerged in the commercial market in…