Related papers: A Controller for Network-Assisted CACC based Plato…
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…
In this paper a coalitional control and observation scheme is presented in which the coalitions are changed online by enabling and disabling communication links. Transitions between coalitions are made to best balance overall system…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
Cooperative driving, enabled by communication between automated vehicle systems, promises significant benefits to fuel efficiency, road capacity, and safety over single-vehicle driver assistance systems such as adaptive cruise control…
Recent developments in the smart mobility domain have transformed automobiles into networked transportation agents helping realize new age, large-scale intelligent transportation systems (ITS). The motivation behind such networked…
Intersections are the bottlenecks of the urban road system because an intersection's capacity is only a fraction of the flows that the roads connecting to the intersection can carry. This capacity can be increased if vehicles can cross the…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
Motivated by the need to study the performance of vehicular communication protocols as applicable to heterogeneous traffic conditions, we study the performance of IEEE 802.11p medium access protocol under such a traffic setup. We consider a…
This paper proposes a novel method for multi-lane convoy formation control that uses large language models (LLMs) to tackle coordination challenges in dynamic highway environments. Each connected and autonomous vehicle in the convoy uses a…
This paper addresses the problem of achieving secure consensus in a vehicular platoon using event-triggered control. The platoon consists of a leader and multiple follower vehicles exchanging their position and velocity information…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
We study the strategic interaction among vehicles in a non-cooperative platoon coordination game. Vehicles have predefined routes in a transportation network with a set of hubs where vehicles can wait for other vehicles to form platoons.…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…
Cooperative Adaptive Cruise Control (CACC) represents a quintessential control strategy for orchestrating vehicular platoon movement within Connected and Automated Vehicle (CAV) systems, significantly enhancing traffic efficiency and…
Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However,…
Platooning or cooperative adaptive cruise control (CACC) has been investigated for decades, but debate about its lasting impact is still ongoing. While the benefits of platooning and the formation of platoons are well understood for trucks,…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
A new era is dawning for wireless mobile ad hoc networks where communication will be done using a group of mobile devices called cluster, hence clustered network. In a clustered network, protocols used by these mobile devices are different…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…