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Ensuring fairness in the coordination of connected and automated vehicles at intersections is essential for equitable access, social acceptance, and long-term system efficiency, yet it remains underexplored in safety-critical, real-time…
In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared…
We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…
Autonomous driving technology is rapidly evolving and becoming a pivotal element of modern automation systems. Effective decision-making and planning are essential to ensuring autonomous vehicles operate safely and efficiently in complex…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
We propose a stochastic model for the intersection of two urban streets. The vehicular traffic at the intersection is controlled by a set of traffic lights which can be operated subject to fix-time as well as traffic adaptive schemes.…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…
In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this…