Related papers: Coordinated Formation Control for Intelligent and …
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
Connected and autonomous vehicles (CAVs) are promising due to their potential safety and efficiency benefits and have attracted massive investment and interest from government agencies, industry, and academia. With more computing and…
Safety is the foremost concern for autonomous platooning. The vehicle-to-vehicle (V2V) communication delay and the sudden appearance of obstacles will trigger the safety of the intended functionality (SOTIF) issues for autonomous…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
Connected Autonomous Vehicle (CAV) Network can be defined as a collection of CAVs operating at different locations on a multilane corridor, which provides a platform to facilitate the dissemination of operational information as well as…
In this paper, we present a new leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. The solution is based on the graph that models the coordination among the robots being a…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
A multi-agent deep reinforcement learning-based framework for traffic shaping. The proposed framework offers a key advantage over existing congestion management strategies which is the ability to mitigate hysteresis phenomena. Unlike…
As autonomous or semi-autonomous vehicles are deployed on the roads, they will have to eventually start communicating with each other in order to achieve increased efficiency and safety. Current approaches in the control of collaborative…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
This paper implements a traffic signal control system by using real-time traffic flow feedback. This system is designed to deal with two-lane intersections. We construct an experiment field similar to the roads and drivers in Taiwan using…
Several approaches have been proposed in the literature that allow connected and automated vehicles (CAVs) to coordinate in areas where there is a potential conflict, for example, in intersections, merging at roadways and roundabouts. In…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
The rapid development of cyber-physical systems is driving a transition toward mixed traffic environments comprising both human-driven and connected and automated vehicles (CAVs). This shift presents a unique opportunity to leverage the…
Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…