Related papers: Hybrid Planning and Control for Multiple Fixed-Win…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
This paper considers autonomous flight formation of fixed-wing air vehicles. Due to several issues such as limitations on communication bandwidth and low observability requirements, an asynchronous control and communication approach is…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy is proposed for communicating pairs of connected automated…
The problem of step tracking control with a switching input and without any continuous-valued inputs is considered. The control objective is to reduce the number of switchings to a minimal value. This approach finds interesting applications…
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…