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Steering traffic in cities is a very complex task, since improving efficiency involves the coordination of many actors. Traditional approaches attempt to optimize traffic lights for a particular density and configuration of traffic. The…
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…
Here we derive a nonsmooth maximum principle for optimal control problems with both state and mixed constraints. Crucial to our development is a convexity assumption on the "velocity set". The approach consists of applying known…
As an example for the optimization of unstable flows, we present an economics-based method for deciding the optimal rates at which vehicles are allowed to enter a highway. It exploits the naturally occuring fluctuations of traffic flow and…
This paper is concerned with optimal control problems for parabolic partial differential equations with pointwise in time switching constraints on the control. A standard approach to treat constraints in nonlinear optimization is…
Autonomous vehicles usually consume a large amount of computational power for their operations, especially for the tasks of sensing and perception with artificial intelligence algorithms. Such a computation may not only cost a significant…
Sparse estimation methods are aimed at using or obtaining parsimonious representations of data or models. They were first dedicated to linear variable selection but numerous extensions have now emerged such as structured sparsity or kernel…
Optimal transport is the problem of designing a joint distribution for two random variables with fixed marginals. In virtually the entire literature on this topic, the objective is to minimize expected cost. This paper is the first to study…
In this paper, we consider the problem of optimally guiding a large-scale swarm of underwater vehicles that is tasked with the indirect control of an advection-diffusion environmental field. The microscopic vehicle dynamics are governed by…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
This paper proposes novel algorithm for non-convex multimodal constrained optimisation problems. It is based on sequential solving restrictions of problem to sections of feasible set by random subspaces (in general, manifolds) of low…
This paper develops an optimal data aggregation policy for learning-based traffic control systems based on imagery collected from Road Side Units (RSUs) under imperfect communications. Our focus is optimizing semantic information flow from…
This paper develops an adaptive traffic control policy inspired by Maximum Pressure (MP) while imposing coordination across intersections. The proposed Coordinated Maximum Pressure-plus-Penalty (CMPP) control policy features a local…
This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
A general class of nonconvex optimization problems is considered, where the penalty is the composition of a linear operator with a nonsmooth nonconvex mapping, which is concave on the positive real line. The necessary optimality condition…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted sum of two conflicting objectives, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the…