Related papers: Centralized Coordination of Connected Vehicles at …
In this paper, we first present a centralized traffic control model based on the emerging dynamic path flows. This new model in essence views the whole target network as one integral piece in which traffic propagates based on traffic flow…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…
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.…
We present methods to synthesize cooperative strategies for multi-vehicle control problems using mixed integer linear programming. Complex multi-vehicle control problems are expressed as mixed logical dynamical systems. Optimal strategies…
Detecting emergency vehicles arrival on roads has been the focus for many researchers. It is quite important to detect the emergency vehicles (e.g; ambulance) arrival to traffic light to give the green light for it to pass through. Many…
In this paper, we explore the application of the Decision Transformer, a decision-making algorithm based on the Generative Pre-trained Transformer (GPT) architecture, to multi-vehicle coordination at unsignalized intersections. We formulate…
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
Traffic congestion remains a significant challenge in modern urban networks. Autonomous driving technologies have emerged as a potential solution. Among traffic control methods, reinforcement learning has shown superior performance over…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…
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…
Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…
Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…
This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…