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In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…
Intersection crossing represents a bottleneck for transportation systems and Connected Autonomous Vehicles (CAVs) may be the groundbreaking solution to the problem. This work proposes a novel framework, i.e, AVOID-PERIOD, where an…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
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…
Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…
This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…
The problem of multi-area interchange scheduling under system uncertainty is considered. A new scheduling technique is proposed for a multi-proxy bus system based on stochastic optimization that captures uncertainty in renewable generation…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
Balancing passenger demand and vehicle availability is crucial for ensuring the sustainability and effectiveness of urban transportation systems. To address this challenge, we propose a novel hierarchical strategy for the efficient…
The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…
Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…
In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…
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…
Traffic congestion at a signalized intersection greatly reduces the travel time reliability in urban areas. Adaptive signal control system (ASCS) is the most advanced traffic signal technology that regulates the signal phasing and timings…
Most recent studies on establishing intersection safety focus on the situation where all vehicles are fully autonomous. However, currently most vehicles are human-driven and so we will need to transition through regimes featuring a varying…
This work presents a harmonic design of autonomous guided vehicle (AGV) control, edge intelligence, and human input to enable autonomous transportation in industrial environments. The AGV has the capability to navigate between a source and…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
Traffic congestion has large economic and social costs. The introduction of autonomous vehicles can potentially reduce this congestion by increasing road capacity via vehicle platooning and by creating an avenue for influencing people's…
Predicting the future trajectory of a surrounding vehicle in congested traffic is one of the basic abilities of an autonomous vehicle. In congestion, a vehicle's future movement is the result of its interaction with surrounding vehicles. A…