Related papers: A Constrained Optimal Control Framework for Vehicl…
On-ramp merging areas are typical bottlenecks in the freeway network, since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficiency and safety. The…
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…
Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce energy consumption and travel delays. In this paper, we propose a two-level control architecture for CAVs to optimize (1) the vehicle's speed profile,…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable…
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control aimed at optimizing energy consumption with associated benefits. In this paper, we implement an optimal…
It is recognized that the control of mixed-autonomy platoons comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) can enhance traffic flow. Among existing methods, Multi-Agent Reinforcement Learning (MARL)…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…