Related papers: Lookup Table-Based Consensus Algorithm for Real-Ti…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
Autonomated vehicles (AVs) are expected to have a profound impact on society, with high expectations for their potential benefits. One key anticipated benefit is the reduction of traffic congestion and stop-and-go waves, which negatively…
Connected and automated vehicles (CAVs) have attracted more and more attention recently. The fast actuation time allows them having the potential to promote the efficiency and safety of the whole transportation system. Due to technical…
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 rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-generation mobility systems. Along these lines, connectivity…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework to deliver real-time control actions that optimize travel time, energy, and safety. Hardware is an integral part of any…
A distributed control of vehicle platooning is referred to as distributed consensus (DC) since many autonomous vehicles (AVs) reach a consensus to move as one body with the same velocity and inter-distance. For DC control to be stable,…
We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…
We develop optimal control strategies for autonomous vehicles (AVs) that are required to meet complex specifications imposed as rules of the road (ROTR) and locally specific cultural expectations of reasonable driving behavior. We formulate…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating the…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…