Related papers: Constraint-Driven Optimal Control of Multi-Agent S…

In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…

We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…

Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance…

This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…

Several approaches have been presented during the last decades to reduce carbon pollution from transportation. One example is the use of platooning mode. This paper considers data obtained from daily trips to investigate the impact of…

Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…

In this paper, we introduce a hierarchical decision-making framework for emerging mobility systems. Despite numerous studies focusing on optimizing vehicle flow, practical feasibility has often been overlooked. To address this gap, we…

Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

In this paper, we develop an optimal control framework for dynamical systems when only an approximate model of the underlying plant is available. We consider a setting in which the control strategy is synthesized using a model-based optimal…

This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggered distributed model predictive control method is proposed to…

This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as…

Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…

Traffic congestion has lead to an increasing emphasis on management measures for a more efficient utilization of existing infrastructure. In this context, this paper proposes a novel framework that integrates real-time optimization of…

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…

The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…

Cooperative vehicle management emerges as a promising solution to improve road traffic safety and efficiency. This paper addresses the speed planning problem for connected and autonomous vehicles (CAVs) at an unsignalized intersection with…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…

A convex formulation is proposed for optimal energy management in aircraft with hybrid propulsion systems consisting of gas turbine and electric motor components. By combining a point-mass aircraft dynamical model with models of electrical…

Manoeuvring in the presence of emergency vehicles is still a major issue for vehicle autonomy systems. Most studies that address this topic are based on rule-based methods, which cannot cover all possible scenarios that can take place in…