Related papers: A Distributed Multi-Vehicle Coordination Algorithm…
This paper proposes a centralized multi-vehicle coordination scheme serving unsignalized intersections. The whole process consists of three stages: a) target velocity optimization: formulate the collision-free vehicle coordination as a…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
In this paper, we investigate traffic signal control in a network of interconnected intersections, aiming to balance lane-level vehicle densities through optimal green-time allocation. We develop a two-lane traffic flow model that…
For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an…
Techniques for coordination of multi-agent systems are vast and varied, often utilizing purpose-built solvers or controllers with tight coupling to the types of systems involved or the coordination goal. In this paper, we introduce a…
Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
We present methods that generate cooperative strategies for multi-vehicle control problems using a decomposition approach. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle,…
Distributed model predictive control (MPC) is currently being investigated as a solution to the important control challenge presented by networks of hybrid dynamical systems. However, a benchmark problem for distributed hybrid MPC is absent…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning systems are more…
We propose and analyse a model predictive control (MPC) strategy tailored for networks of underwater agents tasked with maintaining formation while following a shared path and using acoustic communication channels. The strategy accommodates…