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Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…
This paper presents the design of an ecological adaptive cruise controller (ECO-ACC) for a plug-in hybrid vehicle (PHEV) which exploits automated driving and connectivity. Most existing papers for ECO-ACC focus on a short-sighted control…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
We address a class of systems for which the solution to an H-infinity optimal control problem can be given on a very simple closed form. In fact, both the control law and optimal performance value are explicitly given. The class of systems…
The emergence of connected vehicles is driven by increasing customer and regulatory demands. To meet these, more complex software applications, some of which require service-based cloud and edge backends, are developed. When new software is…
This paper presents ANS-V2X, an Adaptive Network Selection framework tailored for latency-aware V2X systems operating under varying vehicle densities and heterogeneous network conditions. Modern vehicular environments demand low-latency and…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…
End-to-end (E2E) autonomous driving systems offer a promising alternative to traditional modular pipelines by reducing information loss and error accumulation, with significant potential to enhance both mobility and safety. However, most…
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time.…
Unmanned aerial vehicles (UAVs) are a relatively new technology. Their application can often involve complex and unseen problems. For instance, they can work in a cooperative-based environment under the supervision of a ground station to…
This study focuses on edge computing in dense millimeter wave vehicle-to-everything (V2X) networks. A control problem is formulated to minimize the energy consumption under delay constraint resulting from vehicle mobility. A tractable…
This paper presented a deep reinforcement learning method named Double Deep Q-networks to design an end-to-end vision-based adaptive cruise control (ACC) system. A simulation environment of a highway scene was set up in Unity, which is a…
In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selection of the time headway in predecessor-follower type…
Millimeter-wave radar provides robust perception in visually degraded environments. However, radar-inertial state estimation is inherently susceptible to drift. Because radar yields only sparse, body-frame velocity measurements, it provides…
V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy,…
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
Beamforming techniques are utilized in millimeter wave (mmWave) communication to address the inherent path loss limitation, thereby establishing and maintaining reliable connections. However, adopting standard defined beamforming approach…
This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…
Service systems like data centers and ride-hailing are popularly modeled as queueing systems in the literature. Such systems are primarily studied in the steady state due to their analytical tractability. However, almost all applications in…
Vehicular control systems are required to be both extremely reliable and robust to different environmental conditions, e.g. load or tire-road friction. In this paper, we extend a new paradigm for state estimation, called Twin-in-the-Loop…