Related papers: A Real-Time Optimal Eco-driving for Autonomous Veh…
Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…
In this paper, a comprehensive Eco-Driving strategy for CAVs is presented. In this setup, multiple driving modes calculate speed profiles ideal for their own set of constraints simultaneously to save fuel as much as possible, while a High…
The objective of trajectory optimization algorithms is to achieve an optimal collision-free path between a start and goal state. In real-world scenarios where environments can be complex and non-homogeneous, a robot needs to be able to…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the…
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…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
With accelerating urbanization and worsening traffic congestion, optimizing traffic signal systems to improve road throughput and alleviate congestion has become a critical issue. This study proposes a short-term traffic prediction model…
The rapid evolution of urban air mobility (UAM) is reshaping the future of transportation by integrating aerial vehicles into urban transit systems. The design of aerial intersections plays a critical role in the phased development of UAM…
Connected and automated vehicles (CAVs) represent the future of transportation, utilizing detailed traffic information to enhance control and decision-making. Eco-driving of CAVs has the potential to significantly improve energy efficiency,…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…
The rapid development of cyber-physical systems is driving a transition toward mixed traffic environments comprising both human-driven and connected and automated vehicles (CAVs). This shift presents a unique opportunity to leverage the…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…