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The performance of flow matching and diffusion models can be greatly improved at inference time using reward alignment algorithms, yet efficiency remains a major limitation. While several algorithms were proposed, we demonstrate that a…
Car-Following is a broadly studied state of driving, and many modeling approaches through various heuristics and engineering methods have been proposed. Congestion is a common traffic phenomenon also widely investigated, both from…
This paper develops boundary control for freeway traffic with a downstream bottleneck. Traffic on a freeway segment with capacity drop at outlet of the segment is a common phenomenon leading to traffic bottleneck problem. The capacity drop…
Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…
We present a traffic flow model consisting of a gluing between the Lighthill-Whitham and Richards macroscopic model with a first order microscopic follow the leader model. The basic analytical properties of this model are investigated.…
In this paper we propose a new modeling technique for vehicular traffic flow, designed for capturing at a macroscopic level some effects, due to the microscopic granularity of the flow of cars, which would be lost with a purely continuous…
Uncertainty and delayed reactions in human driving behavior lead to stop-and-go traffic congestion on freeways. The freeway traffic dynamics are governed by the Aw-Rascle-Zhang (ARZ) traffic Partial Differential Equation (PDE) models with…
Modeling heterogeneous and multi-lane traffic flow is essential for understanding and controlling complex transportation systems. In this work, we consider three vehicle populations: two classes of human-driven vehicles (cars and trucks)…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
The thesis deals with the Aw-Rascle-Zhang model for traffic. We have applied the model to describe the influence of a large and slow vehicle (a bus or a truck) on the traffic. The trajectory of the bus is given by an ODE. The model can also…
In a mixed traffic with connected automated vehicles (CAVs) and human-driven vehicles (HDVs) coexisting, data-driven predictive control of CAVs promises system-wide traffic performance improvements. Yet, most existing approaches focus on a…
A bottleneck can largely deteriorate the flow, such as a traffic light or an on-ramp at a road. To alleviate bottleneck situations, one of the important strategies is to control the input rate to suit the state of the road. In this study,…
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…
Traffic bottlenecks are a set of road segments that have an unacceptable level of traffic caused by a poor balance between road capacity and traffic volume. A huge volume of trajectory data which captures real-time traffic conditions in…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
This paper studies the numerical solution of traveling singular sources problems. In such problems, a big challenge is the sources move with different speeds, which are described by some ordinary differential equations. A…
Urban traffic congestion remains a pressing challenge in our rapidly expanding cities, despite the abundance of available data and the efforts of policymakers. By leveraging behavioral system theory and data-driven control, this paper…
The propagation of traffic congestion along roads is a commonplace nonlinear phenomenon. When many roads are connected in a network, congestion can spill from one road to others as drivers queue to enter a congested road, creating further…
Sag is a road section where a downhill changes into an uphill, and is a highway bottleneck. We consider a system in which all vehicles are connected, and run on a single-lane road with a sag. We propose a simple strategy for removing each…