Related papers: Decentralized Optimal Merging Control for Connecte…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
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…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In earlier work, we addressed the optimal coordination of CAVs using Hamiltonian analysis. In this…
This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…
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…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
Earlier work has established a decentralized framework of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling. The proposed solution is capable of minimizing…