Related papers: Centralized Coordination of Connected Vehicles at …
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
Dynamic scheduling of access to shared resources by autonomous systems is a challenging problem, characterized as being NP-hard. The complexity of this task leads to a combinatorial explosion of possibilities in highly dynamic systems where…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…
This paper addresses the problem of finding the optimal Eco-Driving (ED) speed profile of an electric Connected and Automated Vehicle (CAV) in an isolated urban un-signalized intersection. The problem is formulated as a single-level…
This paper considers the problem of scheduling autonomous vehicles in intersections. A new system is proposed that could be an additional choice to the recently introduced Autonomous Intersection Management (AIM) model. The proposed system…
This paper presents a signal-free intersection control system for CAVs by combination of a pixel reservation algorithm and a Deep Reinforcement Learning (DRL) decision-making logic, followed by a corridor-level impact assessment of the…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
Coordinated traffic signals seek to provide uninterrupted flow through a series of closely spaced intersections, typically using pre-defined fixed signal timings and offsets. Adaptive traffic signals dynamically change signal timings based…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
In this study, we provide a novel approach for modelling the mixed traffic flow. The basic idea is to integrate models for nonmotorized vehicles (nm-vehicles) with models for motorized vehicles (m-vehicles). Based on the idea, a model for…
Cooperative decision-making of Connected Autonomous Vehicles (CAVs) presents a longstanding challenge due to its inherent nonlinearity, non-convexity, and discrete characteristics, compounded by the diverse road topologies encountered in…
Optimal traffic-light settings are generally hard to obtain, certainly for actuated access control of an intersection. Typically, computationally expensive (microscopic) simulations or complicated optimization schemes are required to find…
In autonomous driving, navigation through unsignaled intersections with many traffic participants moving around is a challenging task. To provide a solution to this problem, we propose a novel branched network G-CIL for the navigation…
Recent road trials have shown that guaranteeing the safety of driving decisions is essential for the wider adoption of autonomous vehicle technology. One promising direction is to pose safety requirements as planning constraints in…
Unsignalized intersections pose safety and efficiency challenges due to complex traffic flows and blind spots. In this paper, a digital twin (DT)-based cooperative driving system with roadside unit (RSU)-centric architecture is proposed for…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
One of the main challenges in managing traffic at multilane intersections is ensuring smooth coordination between human-driven vehicles (HDVs) and connected autonomous vehicles (CAVs). This paper presents a novel traffic signal control…
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…
An urban traffic system is a heterogeneous system, which consists of different types of intersections and dynamics. In this paper, we focus on one type of heterogeneous traffic network, which consists of signalized junctions and…
In prioritized planning for vehicles, vehicles plan trajectories in parallel or in sequence. Parallel prioritized planning offers approximately consistent computation time regardless of the number of vehicles but struggles to guarantee…