Related papers: Complex dynamics in a vehicle platoon with nonline…
Accurate dynamics models are critical for aerial manipulators operating under complex tasks such as payload transport. However, modeling these systems remains fundamentally challenging due to strong quadrotor-manipulator coupling, delayed…
In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
While emerging adaptive cruise control (ACC) technologies are making their way into more vehicles, they also expose a vulnerability to potential malicious cyberattacks. Previous research has typically focused on constant or stochastic…
Traffic waves, the spatiotemporal propagation of congestion, are a key feature of traffic flow. As Adaptive Cruise Control (ACC) systems gain widespread adoption and show promise for improving both efficiency and safety, understanding how…
Given the complexity and nonlinearity inherent in traffic dynamics within vehicular platoons, there exists a critical need for a modeling methodology with high accuracy while concurrently achieving physical analyzability. Currently, there…
Recently, artificial intelligence (AI)-enabled nonlinear vehicle platoon dynamics modeling plays a crucial role in predicting and optimizing the interactions between vehicles. Existing efforts lack the extraction and capture of vehicle…
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…
Ensuring safety is the most important factor in connected and autonomous vehicles, especially in emergency braking situations. As such, assessing the safety benefits of one information topology over other is a necessary step towards…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with…
With the advent of vehicles equipped with advanced driver-assistance systems, such as adaptive cruise control (ACC) and other automated driving features, the potential for cyberattacks on these automated vehicles (AVs) has emerged. While…
Mixed traffic flow consisting of vehicles equipped with adaptive cruise control (ACC) and manually driven vehicles is analyzed using car-following simulations. Unlike simulations that show suppression of jams due to increased string…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
In this simulator study, we adopt a human-centered approach to explore whether and how drivers' cognitive state and driving environment complexity influence reliance on driving automation features. Besides, we examine whether such reliance…
Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…