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In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
Connected and automated vehicles (CAVs) are viewed as a special kind of robots that have the potential to significantly improve the safety and efficiency of traffic. In contrast to many swarm robotics studies that are demonstrated in labs…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
The development of connected autonomous vehicles (CAVs) facilitates the enhancement of traffic efficiency in complicated scenarios. In unsignalized roundabout scenarios, difficulties remain unsolved in developing an effective and efficient…
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 part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
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…
A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…
In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…
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…
This paper develops distributed optimization based, platoon centered CAV car following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV…
Autonomous vehicles (AVs) will revolutionarize ground transport and take a substantial role in the future transportation system. Most AVs are likely to be electric vehicles (EVs) and they can participate in the vehicle-to-grid (V2G) system…
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this…
Unmanned Aerial Vehicle (UAV) technology is a promising solution for providing high-quality mobile services to ground users, where a UAV with limited service coverage travels among multiple geographical user locations (e.g., hotspots) for…
In this paper, we propose a novel road side unit (RSU)-assisted cooperative sensing scheme for connected autonomous vehicles (CAVs), with the objective to reduce completion time of sensing tasks. Specifically, LiDAR sensing data of both RSU…
Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…