Related papers: Automation Of Road Intersections Using Consensus-b…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
High-speed signal-free intersections are a novel urban traffic operations enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…
We provide theoretical foundations and computational tools for the systematic design of optimization-based control laws with constraints that have different priorities. By introducing the concept of prioritized intersections, we extend and…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
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…
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.…
Conventional urban traffic control systems have been based on historical traffic data. Later advancements made use of detectors, which enabled the gathering of real time traffic data, in order to reorganize and calibrate traffic…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
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…
In this letter, we address the problem of improving the feasible domain of the solution of a decentralized control framework for coordinating connected and automated vehicles (CAVs) at signal-free intersections as the traffic volume…
Optimal transport has been used extensively in resource matching to promote the efficiency of resources usages by matching sources to targets. However, it requires a significant amount of computations and storage spaces for large-scale…