Related papers: Integrated Framework of Vehicle Dynamics, Instabil…
Designing traffic-smoothing cruise controllers that can be deployed onto autonomous vehicles is a key step towards improving traffic flow, reducing congestion, and enhancing fuel efficiency in mixed autonomy traffic. We bypass the common…
The effects of traffic congestion are widespread and are an impedance to everyday life. Piecewise constant driving policies have shown promise in helping mitigate traffic congestion in simulation environments. However, no works currently…
Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving…
The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…
Most autonomous-vehicles (AVs) driving strategies are designed and analyzed at the vehicle level, yet their aggregate impact on macroscopic traffic flow is still not understood, particularly the flow heterogeneity that emerges when AVs…
Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
As autonomous vehicle technology advances, the precise assessment of safety in complex traffic scenarios becomes crucial, especially in mixed-vehicle environments where human perception of safety must be taken into account. This paper…
The Lagrangian approach is natural to study issues of turbulent dispersion and mixing. We propose in this work a general Lagrangian stochastic model including velocity and acceleration as dynamical variables for inhomogeneous turbulent…
In this paper, a multi-lane multi-population microscopic model, which presents stop and go waves, is proposed to simulate traffic on a ring-road. Vehicles are divided between human-driven and autonomous vehicles (AV). Control strategies are…
We study traffic flow on roads with a localized periodic inhomogeneity such as traffic signals, using a stochastic car-following model. We find that in cases of congestion, traffic flow can be optimized by controlling the inhomogeneity's…
Modeling how network-level traffic flow changes in the urban environment is useful for decision-making in transportation, public safety and urban planning. The traffic flow system can be viewed as a dynamic process that transits between…
Complex network approaches have been successfully applied for studying transport processes in complex systems ranging from road, railway or airline infrastructure over industrial manufacturing to fluid dynamics. Here, we utilize a generic…
Design, control, and estimation for dynamic systems require accurate and analytically tractable models. However, modern engineered systems contain components that are described with heterogeneous modeling paradigms, as well as subsystems…
We review some of the techniques used to study the dynamics of disordered systems subject to both quenched and fast (thermal) noise. Starting from the Martin-Siggia-Rose path integral formalism for a single variable stochastic dynamics, we…
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an analytical construction of time-varying density functions…
In networked control systems, communication resource constraints often necessitate the use of \emph{sparse} control input vectors. A prototypical problem is how to ensure controllability of a linear dynamical system when only a limited…