Related papers: Optimal Control of Autonomous Vehicles Approaching…
The combination of Artificial Intelligence (AI) and Internet-of-Things (IoT), which is denoted as AI-powered Internet-of-Things (AIoT), is capable of processing huge amount of data generated from a large number of devices and handling…
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…
Connected Autonomous Vehicles will make autonomous intersection management a reality replacing traditional traffic signal control. Autonomous intersection management requires time and speed adjustment of vehicles arriving at an intersection…
We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
This paper addresses the eco-driving problem for connected vehicles on urban roads, considering localization uncertainty. Eco-driving is defined as longitudinal speed planning and control on roads with the presence of a sequence of traffic…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
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…
This work introduces an integrated approach to optimizing urban traffic by combining predictive modeling of vehicle flow, adaptive traffic signal control, and a modular integration architecture through distributed messaging. Using real-time…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
The integration of Automated Vehicles (AVs) into traffic flow holds the potential to significantly improve traffic congestion by enabling AVs to function as actuators within the flow. This paper introduces an adaptive speed controller…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
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…
This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…
Technology of autonomous vehicles (AVs) is getting mature and many AVs will appear on the roads in the near future. AVs become connected with the support of various vehicular communication technologies and they possess high degree of…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
Preceding vehicles typically dominate the movement of following vehicles in traffic systems, thereby significantly influencing the efficacy of eco-driving control that concentrates on vehicle speed optimization. To potentially mitigate the…
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…