Related papers: A multiscale model for traffic regulation via auto…
Transitions between two lanes often have a significant impact on various forms of road traffic. To address this problem, we have developed a two-lane asymmetric simple exclusion process model and two hypothetical traffic control strategies,…
Connected autonomous vehicles (CAV) technologies are about to be in the market in the near future. This requires transportation facilities ready to operate in a mixed traffic environment where a portion of vehicles are CAVs and the…
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning…
Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…
Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…
The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim to operate…
We present a flow-matching planner for autonomous driving that directly outputs actionable control trajectories defined by acceleration and curvature profiles. The model is conditioned on a bird's-eye-view (BEV) raster of the surrounding…
We develop a discrete Boltzmann-type model that uses dynamics in phase space to describe the behavior of traffic flows. Firstly, we model the traffic flow at mesoscopic scale using dynamics in phase space, which is considered as an…
Traffic congestion has large economic and social costs. The introduction of autonomous vehicles can potentially reduce this congestion by increasing road capacity via vehicle platooning and by creating an avenue for influencing people's…
Lane-free vehicle movement has been recently proposed for connected automated vehicles (CAV) due to various potential advantages. One such advantage stems from the fact that incremental changes of the road width in lane-free traffic lead to…
We develop a control design for stabilization of traffic flow in congested regime, based on an Aw-Rascle-Zhang-type (ARZ-type) Partial Differential Equation (PDE) model, for traffic consisting of both ACC-equipped (Adaptive Cruise…
This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…
The increasing complexity of urban transportation systems, driven by connected and automated vehicles, calls for new modeling paradigms and scalable control strategies. We propose a non-monetary control framework that leverages autonomous…
A novel paradigm for vehicular traffic in the era of connected and automated vehicles (CAVs) is proposed, which includes two combined principles: lane-free traffic and vehicle nudging, whereby vehicles are "pushing" (from a distance, using…
This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
This paper presents a mixed traffic control policy designed to optimize traffic efficiency across diverse road topologies, addressing issues of congestion prevalent in urban environments. A model-free reinforcement learning (RL) approach is…
Control of mixed-autonomy traffic where Human-driven Vehicles (HVs) and Autonomous Vehicles (AVs) coexist on the road has gained increasing attention over the recent decades. This paper addresses the boundary stabilization problem for mixed…
In this letter we propose an optimization-based boundary controller for traffic flow dynamics capable of achieving both stability and invariance conditions. The approach is based on the definition of Boundary Control Barrier Functionals,…
The last decades have witnessed the breakthrough of autonomous vehicles (AVs), and the perception capabilities of AVs have been dramatically improved. Various sensors installed on AVs, including, but are not limited to, LiDAR, radar, camera…