Related papers: Joint Communication and Control for Wireless Auton…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
Ultra reliable, low latency vehicle-to-infrastructure (V2I) communications is a key requirement for seamless operation of autonomous vehicles (AVs) in future smart cities. To this end, cellular small base stations (SBSs) with edge computing…
In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However,…
Autonomous vehicle platooning promises many benefits such as fuel efficiency, road safety, reduced traffic congestion, and passenger comfort. Platooning vehicles travel in a single file, in close distance, and at the same velocity. The…
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…
In order to enhance the performance of cyber-physical systems, this paper proposes the integrated de-sign of distributed controllers for distributed plants andthe control of the communication network. Conventionaldesign methods use static…
The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
We provide experimental validation, in a pair of vehicles, of a recently introduced predictor-based cooperative adaptive cruise control (CACC) design, developed for achieving delay compensation in heterogeneous vehicular platoons subject to…
Vehicular Ad hoc Network (VANET) is a new sort of wireless ad-hoc network. Vehicle-to-Vehicle (V2V) communication is one of the main communication paradigms that provide a level of safety and convenience to drivers and passengers on the…
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
The emerging technology of Vehicle-to-Vehicle (V2V) communication over vehicular ad hoc networks promises to improve road safety by allowing vehicles to autonomously warn each other of road hazards. However, research on other transportation…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
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 study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial locations. We analyze how delays affect the spatial locality of…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…
Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However,…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…