Related papers: Autonomous and Connected Intersection Crossing Tra…
Smart and decentralized control systems have recently been proposed to handle the growing traffic congestion in urban cities. Proposed smart traffic light solutions based on Wireless Sensor Network and Vehicular Ad-hoc NETwork are either…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Urban traffic congestion remains a pressing challenge in our rapidly expanding cities, despite the abundance of available data and the efforts of policymakers. By leveraging behavioral system theory and data-driven control, this paper…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
Intersection is a major source of traffic delays and accidents within modern transportation systems. Compared to signalized intersection management, autonomous intersection management (AIM) coordinates the intersection crossing at an…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
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…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…
This paper proposes a simplified version of classical models for urban transportation networks, and studies the problem of controlling intersections with the goal of optimizing network-wide congestion. Differently from traditional…
Intersection is one of the most complex and accident-prone urban scenarios for autonomous driving wherein making safe and computationally efficient decisions is non-trivial. Current research mainly focuses on the simplified traffic…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
Traffic is a problem in many urban areas worldwide. Traffic flow is dictated by certain devices such as traffic lights. The traffic lights signal when each lane is able to pass through the intersection. Often, static schedules interfere…
Optimal traffic-light settings are generally hard to obtain, certainly for actuated access control of an intersection. Typically, computationally expensive (microscopic) simulations or complicated optimization schemes are required to find…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…