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Based on fluid-dynamic and many-particle (car-following) simulations of traffic flows in (urban) networks, we study the problem of coordinating incompatible traffic flows at intersections. Inspired by the observation of self-organized…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
Due to the current developments towards autonomous driving and vehicle active safety, there is an increasing necessity for algorithms that are able to perform complex criticality predictions in real-time. Being able to process multi-object…
In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent…
We present the design and validation of a centralized controller, called a supervisor, for collision avoidance of multiple human-driven vehicles at a road intersection, considering measurement errors, unmodeled dynamics, and uncontrolled…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
This paper presents the design of a supervisory algorithm that monitors safety at road intersections and overrides drivers with a safe input when necessary. The design of the supervisor consists of two parts: safety verification and control…
With the advent of autonomous driving technologies, traffic control at intersections is expected to experience revolutionary changes. Various novel intersection control methods have been proposed in the existing literature, and they can be…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
Finding a feasible and prompt solution to the Vehicle Routing Problem (VRP) is a prerequisite for efficient freight transportation, seamless logistics, and sustainable mobility. Traditional optimization methods reach their limits when…
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…
The emerging technology enabling autonomy in vehicles has led to a variety of new problems in transportation networks, such as planning and perception for autonomous vehicles. Other works consider social objectives such as decreasing fuel…
This research focuses on trajectory planning problems for autonomous vehicles utilizing numerical optimal control techniques. The study reformulates the constrained optimization problem into a nonlinear programming problem, incorporating…