Related papers: Autonomous and Connected Intersection Crossing Tra…
The increasing wireless communication capabilities of vehicles creates opportunities for more efficient intersection management strategies. One promising approach is the replacement of traffic lights with a system wherein vehicles run…
Traffic is the chief puzzle problem which every country faces because of the enhancement in number of vehicles throughout the world, especially in large urban towns. Hence the need arises for simulating and optimizing traffic control…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…
To address the challenge of conflicting traffic flows that complete on opposing cycle times in a specific phase of the traffic light, we proposed a novel decentralized traffic light control methodology based on the identification of the…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…
We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…
With accelerating urbanization and worsening traffic congestion, optimizing traffic signal systems to improve road throughput and alleviate congestion has become a critical issue. This study proposes a short-term traffic prediction model…
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…
We propose a stochastic reachability computation framework for occupancy prediction in automated driving by directly solving the underlying transport partial differential equation governing the advection of the closed-loop joint density…
In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
Traffic intersections are important scenes that can be seen almost everywhere in the traffic system. Currently, most simulation methods perform well at highways and urban traffic networks. In intersection scenarios, the challenge lies in…
Traffic congestion has become a nightmare to modern life in metropolitan cities. On average, a driver spending X hours a year stuck in traffic is one of most common sentences we often read regarding traffic congestion. Our aim in this…
We present a theoretical analysis of the DIC-DAC-DOA algorithm, a non-stoquastic quantum algorithm for solving the Maximum Independent Set (MIS) problem. The algorithm runs in polynomial time and achieves exponential speedup over both…
Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…
This paper considers the decentralized (discrete) optimal transport (D-OT) problem. In this setting, a network of agents seeks to design a transportation plan jointly, where the cost function is the sum of privately held costs for each…
Traffic congestion has significant impacts on both the economy and the environment. Measures of Effectiveness (MOEs) have long been the standard for evaluating traffic intersections' level of service and operational efficiency. However, the…