Related papers: Coordinated Formation Control for Intelligent and …
Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
As a strategy to reduce travel delay and enhance energy efficiency, platooning of connected and autonomous vehicles (CAVs) at non-signalized intersections has become increasingly popular in academia. However, few studies have attempted to…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
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…
Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…
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 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…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
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.…