Related papers: Constraint-Driven Optimal Control of Multi-Agent S…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…
A recently proposed paradigm for vehicular traffic in the era of CAV (connected and automated vehicles), called TrafficFluid, involves lane-free vehicle movement. Lane-free traffic implies that incremental road widening (narrowing) leads to…
Traffic congestion has dire economic and social impacts in modern metropolitan areas. To address this problem, in this paper we introduce a novel type of model-free transactive controllers to manage vehicle traffic in highway networks for…
We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By thinking in the actuator space we can represent these…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
We propose a method to compute optimal control paths for autonomous vehicles deployed for the purpose of inferring a velocity field. In addition to being advected by the flow, the vehicles are able to effect a fixed relative speed with…
Coherent control of harmonic generation was studied theoretically. A specific harmonic order was targeted. An optimal control theory was employed to find the driving field where restrictions were imposed on the frequency band. Additional…
A cellular automaton model of traffic flow taking into account velocity anticipation is introduced. The strength of anticipation can be varied which allows to describe different driving schemes. We find phase separation into a free-flow…
This paper investigates the control of flow networks, where the control objective is to regulate the measured output (e.g storage levels) towards a desired value. We present a distributed controller that dynamically adjusts the inputs and…
Moving bottlenecks, such as slow-driving vehicles, are commonly thought of as impediments to efficient traffic flow. Here, we demonstrate that in certain situations, moving bottlenecks---properly controlled---can actually be beneficial for…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
Optimal control of large particle systems with collective dynamics by few agents is a subject of high practical importance (e.g. in evacuation dynamics), but still limited mathematical basis. In particular the transition from discrete…
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 investigate how to control optimally a traffic flow through a junction on the line by acting only on speed reduction or traffic light at the junction. We show the existence of an optimal control and, under structure assumptions, provide…
We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…
The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…