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In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…
With the advent of autonomous driving technologies, traffic control at intersections is expected to experience revolutionary changes. Various novel intersection control methods have been proposed in the existing literature, and they can be…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
Modeling and evaluation of automated vehicles (AVs) in mixed-autonomy traffic is essential prior to their safe and efficient deployment. This is especially important at urban junctions where complex multi-agent interactions occur. Current…
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this…
Connected Autonomous Vehicles (CAVs) are widely expected to improve traffic safety and efficiency by exploiting information from surrounding vehicles via V2V communication. A CAV typically adapts its speed based on information from the…
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…
In this paper, we propose an optimization framework for cooperative merging of platoons of connected and automated vehicles at highway on-ramps. The framework includes (1) an optimal scheduling algorithm, through which, each platoon derives…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
In this paper, we develop a socially cooperative optimal control framework to address the motion planning problem for connected and automated vehicles (CAVs) in mixed traffic using social value orientation (SVO) and a potential game…
The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at…
Routing strategies under the aegis of dynamic traffic assignment have been proposed in the literature to optimize system performance. However, challenges have persisted in their deployment ability and effectiveness due to inherent strong…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected…
Autonomous driving systems present promising methods for congestion mitigation in mixed autonomy traffic control settings. In particular, when coupled with even modest traffic state estimates, such systems can plan and coordinate the…
We investigate the problem of coordinating multiple automated vehicles (AVs) in confined areas. This problem can be formulated as an optimal control problem (OCP) where the motion of the AVs is optimized such that collisions are avoided in…
Connected and Autonomous Electrified Vehicles (CAEV) is the solution to the future smart mobility having benefits of efficient traffic flow and cleaner environmental impact. Although CAEV has advantages they are still susceptible to…
The advent of intelligent vehicles that can communicate with infrastructure as well as automate the movement provides a range of new options to address key urban traffic issues such as congestion and pollution, without the need for…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…