Related papers: Fully Distributed Optimization based CAV Platoonin…
Data-driven predictive control of connected and automated vehicles (CAVs) has received increasing attention as it can achieve safe and optimal control without relying on explicit dynamical models. However, employing the data-driven strategy…
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…
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 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…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
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…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…
In this work, we present a distributed framework based on the graph algorithm for computing control invariant set for nonlinear cascade systems. The proposed algorithm exploits the structure of the interconnections within a process network.…
Electric vehicles (EVs) are an eco-friendly alternative to vehicles with internal combustion engines. Despite their environmental benefits, the massive electricity demand imposed by the anticipated proliferation of EVs could jeopardize the…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
This paper presents DMV-AVP, a distributed simulation of Multi-Vehicle Autonomous Valet Parking (AVP). The system was implemented as an application of the Distributed Multi-Autonomous Vehicle Architecture (DMAVA) for synchronized multi-host…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
We propose a GPU-based distributed optimization algorithm, aimed at controlling optimal power flow in multi-phase and unbalanced distribution systems. Typically, conventional distributed optimization algorithms employed in such scenarios…
The emergence of connected and automated vehicles (CAVs) provides an unprecedented opportunity to capitalize on these technologies well beyond their original designed intents. While abundant evidence has been accumulated showing substantial…
In the context of Vehicular ad-hoc networks (VANETs), the hierarchical management of intelligent vehicles, based on clustering methods, represents a well-established solution for effectively addressing scalability and reliability issues.…
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot…