Related papers: Robust Distributed Control Protocols for Large Veh…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
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…
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…
This paper is concerned with the study of bidirectionally coupled platoon systems. The case considered is when the vehicles are heterogeneous and the coupling can be nonlinear and asymmetric. For such systems, a sufficient condition for…
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 addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. However, most existing control strategies assume linear system…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
As connected and autonomous vehicles become more widespread, platooning has emerged as a key strategy to improve road capacity, reduce fuel consumption, and enhance traffic flow. However, the benefits of platoons strongly depend on their…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
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…
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…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…