Related papers: Coordinated Formation Control for Intelligent and …
The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…
This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…
Cooperative Intelligent Transportation Systems (C-ITS) will change the modes of road safety and traffic management, especially at intersections without traffic lights, namely unsignalized intersections. Existing researches focus on vehicle…
Large-scale UAV switching formation tracking control has been widely applied in many fields such as search and rescue, cooperative transportation, and UAV light shows. In order to optimize the control performance and reduce the…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
The rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-generation mobility systems. Along these lines, connectivity…
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…
Recent developments in the smart mobility domain have transformed automobiles into networked transportation agents helping realize new age, large-scale intelligent transportation systems (ITS). The motivation behind such networked…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
Emerging transportation technologies offer unprecedented opportunities to improve the efficiency of the transportation system from the perspectives of energy consumption, congestion, and emissions. One of these technologies is connected and…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
This paper presents the development of a new collaborative road profile estimation and active suspension control framework in connected vehicles, where participating vehicles iteratively refine the road profile estimation and enhance…
To enhance the ability for vehicle platoons to respond to emergency scenarios, a platoon distribution reorganization decision-making framework is proposed. This framework contains platoon distribution layer, vehicle cooperative…