Related papers: L-Platooning: A Protocol for Managing a Long Plato…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
In a platoon, multiple autonomous vehicles engage in data exchange to navigate toward their intended destination. Within this network, a designated leader shares its status information with followers based on a predefined communication…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
Platooning of vehicles is a promising approach for reducing fuel consumption, increasing vehicle safety, and using road space more efficiently. We consider the important but difficult problem of assigning optimal routes and departure…
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 vehicle platooning significantly improves highway safety, fuel efficiency, and traffic flow. In this model, a set of vehicles move in line formation and coordinate acceleration, braking, and steering using a combination of…
It has been demonstrated that leading cruise control (LCC) can improve the operation of mixed-autonomy platoons by allowing connected and automated vehicles (CAVs) to make longitudinal control decisions based on the information provided by…
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
A platoon-based driving is a technology allowing vehicles to follow each other at close distances to, e.g., save fuel. However, it requires reliable wireless communications to adjust their speeds. Recent studies have shown that the…
Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
Resource allocation in vehicular platoons is challenging due to high vehicle mobility and limited spectrum resources. To improve spectral efficiency, resource sharing is commonly adopted. In 5G-based platoons, the Platoon Leader Vehicle…
Platooning of connected and autonomous vehicles (CAVs) has a significant potential for throughput improvement. However, the interaction between CAVs and non-CAVs may limit the practically attainable improvement due to platooning. To better…
Platooning within autonomous vehicles has proven effective in addressing driver shortages and reducing fuel consumption. However, as platooning lengths increase, traditional C-V2X (cellular vehicle-to-everything) architectures are…
In millimeter wave (mmWave) vehicular communications, multi-hop relay disconnection by line-of-sight (LOS) blockage is a critical problem, especially in the early diffusion phase of mmWave-available vehicles, where not all the vehicles have…
In this paper, we design and implement a reliable broadcast algorithm over a VANET for supporting multi-hop forwarding of vehicle sensor and control packets that will enable vehicles to platoon with each other in order to form a road train…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…