Related papers: An Optimal Coordination Framework for Connected an…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…
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…
In this paper, we propose a re-routing strategy for connected and automated vehicles (CAVs), considering coordination and control of all the CAVs in the network. The objective for each CAV is to find the route that minimizes the total…
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
Earlier work has established a decentralized framework to optimally control Connected Automated Vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling while following a strict First-In-First-Out (FIFO)…
Connectivity and automation in vehicles provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
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…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
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…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
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…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control aimed at optimizing energy consumption with associated benefits. In this paper, we implement an optimal…