Related papers: A Hybrid Controller for DOS-Resilient String-Stabl…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a…
Integrating an automated driving software stack into vehicles with variable configuration is challenging, especially due to different hardware characteristics. Further, to provide software updates to a vehicle fleet in the field, the…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
Learning Enabled Components (LEC) have greatly assisted cyber-physical systems in achieving higher levels of autonomy. However, LEC's susceptibility to dynamic and uncertain operating conditions is a critical challenge for the safety of…
In this manuscript a design and implementation of CACC on an autonomous vehicle platform (2017 Ford Fusion) is presented. The developed CACC controls the intervehicle distance between the target vehicle and ego vehicle using a feedforward…
In this paper, we consider a class of denial-of-service (DoS) attacks, which aims at overloading the communication channel. On top of the security issue, continuous or periodic transmission of information within feedback loop is necessary…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
In this paper, we study remotely-controlled single-input controllable linear systems, subject to periodic Denial-of-Service (DoS) attacks. We propose a control strategy which can beat any partially identified jammer by properly placing the…
Wireless communication plays a vital role in the promising performance of connected and automated vehicle (CAV) technology. This paper proposes a Vissim-based microscopic traffic simulation framework with an analytical dedicated short-range…
Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…
Cooperative and Adaptive Cruise Control (CACC) is widely focused to enhance driving fuel-efficiency by maintaining a close following gap. The ecology of CACC could be further enhanced by adapting to the rolling terrain. However, current…
Switching communication topologies can cause instability in vehicle platoons, as vehicle information may be lost during the dynamic switching process. This highlights the need to design a controller capable of maintaining the stability of…
While automated vehicles (AVs) are expected to revolutionize future transportation systems, emerging AV technologies open a door for malicious actors to compromise intelligent vehicles. As the first generation of AVs, adaptive cruise…
This paper studies the distributed resilient output containment control of heterogeneous multiagent systems against composite attacks, including denial-of-services (DoS) attacks, false-data injection (FDI) attacks, camouflage attacks, and…
Cyberphysical systems (CPSs) integrate controllers, sensors, actuators, and communication networks. Tight integration with communication networks makes CPSs vulnerable to cyberattacks. In this paper, we investigate the impact of denial of…
This paper studies the leader-following consensuses of uncertain and nonlinear multi-agent systems against composite attacks (CAs), including Denial of Service (DoS) attacks and actuation attacks (AAs). A double-layer control framework is…
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the…
This paper proposes a framework for secure and resilient controller design for positive systems against cyber-attacks. In particular, we consider a network-controlled system where an adversary injects false data into the actuator channels…