Related papers: A Grouping Based Cooperative Driving Strategy for …
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
This paper considers a cooperative cruise control problem from a predictive control perspective. Online decision-making is used to be executed during the driving process based on the information obtained from the network. We formalize a…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
Multi-robot systems are integral to modern logistics, but their capabilities are often limited to tasks executable by individual agents. This paper addresses a critical gap in existing frameworks like Multi-Agent Path Finding (MAPF) and…
Autonomous vehicles (AVs) will revolutionarize ground transport and take a substantial role in the future transportation system. Most AVs are likely to be electric vehicles (EVs) and they can participate in the vehicle-to-grid (V2G) system…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
Vehicle-to-Vehicle (V2V) technologies have great potential for enhancing traffic flow efficiency and safety. However, cooperative decision-making in multi-agent systems, particularly in complex human-machine mixed merging areas, remains…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…
Cooperative Adaptive Cruise Control (CACC) is a vehicular technology that allows groups of vehicles on the highway to form in closely-coupled automated platoons to increase highway capacity and safety, and decrease fuel consumption and CO2…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
This paper considers planning a path for a single underwater cooperative navigation aid (CNA) vehicle to sequentially aid a set of N agents to minimize average navigation uncertainty. Both the CNA and agents are modeled as constant-velocity…
This study considers that the collective route choices of travelers en route represent a resolution of their competition on network routes. Well understanding this competition and coordinating their route choices help mitigate urban traffic…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…