Related papers: Lookup Table-Based Consensus Algorithm for Real-Ti…
This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequences the vehicles to…
Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather information about their environment by vehicle-to-vehicle (V2V) communication. In this work, we design an information-sharing-based…
Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs is the so-called cooperative adaptive cruise control (CACC)…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
The proliferation of connected and automated vehicles (CAVs) has positioned mixed traffic environments, which encompass both CAVs and human driven vehicles (HDVs), as critical components of emerging mobility systems. Signalized…
Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…
Ramp merging is considered as one of the major causes of traffic congestion and accidents because of its chaotic nature. With the development of connected and automated vehicle (CAV) technology, cooperative ramp merging has become one of…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
Connected and Automated Vehicles (CAVs) offer a promising solution to the challenges of mixed traffic with both CAVs and Human-Driven Vehicles (HDVs). A significant hurdle in such scenarios is traffic oscillation, or the "stop-and-go"…
This paper addresses the one-bit consensus of controllable linear multi-agent systems (MASs) with communication noises. A consensus algorithm consisting of a communication protocol and a consensus controller is designed. The communication…
This paper studies the consensus problem of heterogeneous multi-agent systems by the feedforward control and linear quadratic (LQ) optimal control theory. Different from the existing consensus control algorithms, which require to design an…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Ramp metering, a traditional traffic control strategy for conventional vehicles, has been widely deployed around the world since the 1960s. On the other hand, the last decade has witnessed significant advances in connected and automated…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…