Related papers: Significance of Low-level Controller for String St…
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…
We present a novel adaptive cruise control (ACC) system namely SAINT-ACC: {S}afety-{A}ware {Int}elligent {ACC} system (SAINT-ACC) that is designed to achieve simultaneous optimization of traffic efficiency, driving safety, and driving…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
Traffic waves, the spatiotemporal propagation of congestion, are a key feature of traffic flow. As Adaptive Cruise Control (ACC) systems gain widespread adoption and show promise for improving both efficiency and safety, understanding how…
This paper analyzes the stability of the control system of an Autonomous Guided Vehicle (AGV) using a central controller. The control commands are transmitted to an AGV over a Rayleigh fading channel causing potential packet drops. This…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model…
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…
In this paper, we re-examine the notion of string stability as it relates to safety by providing an upper bound on the maximum spacing error of any vehicle in a homogeneous platoon in terms of the input of the leading vehicle. We reinforce…
Automatic generation control (AGC) is one of the most important coordinated control systems present in modern interconnected power systems. Despite being heavily studied, no interconnected dynamic stability and performance analysis of AGC…
Platooning involves a set of vehicles moving in a cooperative fashion at equal inter-vehicular distances. Taking advantage of wireless communication technology, this paper aims to show the impact of network protocols on a platoon using a…
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Groups of aircraft have the potential to save significant amounts of energy by flying in formations; all but the leading aircraft can benefit from the upwash of the wakes of preceding aircraft. A potential obstacle as the number of aircraft…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…