Related papers: Optimal Control of Autonomous Vehicles Approaching…
This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…
Connected and autonomous vehicles (CAVs) possess the capability of perception and information broadcasting with other CAVs and connected intersections. Additionally, they exhibit computational abilities and can be controlled strategically,…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
This paper presents a novel AI-based smart traffic management system de-signed to optimize traffic flow and reduce congestion in urban environments. By analysing live footage from existing CCTV cameras, this approach eliminates the need for…
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…
Ill-managed intersections are the primary reasons behind the increasing traffic problem in urban areas, leading to nonoptimal traffic-flow and unnecessary deadlocks. In this paper, we propose an automated intersection management system that…
Stop-and-go traffic waves are known for reducing the efficiency of transportation systems by increasing traffic oscillations and energy consumption. In this study, we develop an approach to synthesize a class of additive feedback…
This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…
This paper focuses on optimal control problem for a class of discrete-time nonlinear systems. In practical applications, computation time is a crucial consideration when solving nonlinear optimal control problems, especially under real-time…
Summary: Traffic light coordination is a complex problem. In this paper, we extend previous work on an abstract model of city traffic to allow for multiple street intersections. We test a self-organizing method in our model, showing that it…
Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…
In the path planning problem of autonomous application, the existing studies separately consider the path planning and trajectory tracking control of the autonomous vehicle and few of them have integrated the trajectory planning and…
Steering traffic in cities is a very complex task, since improving efficiency involves the coordination of many actors. Traditional approaches attempt to optimize traffic lights for a particular density and configuration of traffic. The…
As the speed and the dynamic range of computer networks evolve, the issue of efficient traffic management becomes increasingly important. This work describes an approach to traffic management using explicit rate information provided to the…
When people pick routes to minimize their travel time, the total experienced delay, or social cost, may be significantly greater than if people followed routes assigned to them by a social planner. This effect is accentuated when human…
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…
The implementation of connected and automated vehicle technologies enables opportunities for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we…