Related papers: Dynamic Cooperative Vehicle Platoon Control Consid…

The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Existing Advanced Driver Assistance Systems primarily focus on the vehicle directly ahead, often overlooking potential risks from following vehicles. This oversight can lead to ineffective handling of high risk situations, such as high…

This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…

Ramp merging is a typical application of cooperative intelligent transportation system (C-ITS). Vehicle trajectories perceived by roadside sensors are importation complement to the limited visual field of on-board perception. Vehicle…

The operation of groups of heavy-duty vehicles (HDVs) at a small inter-vehicular distance (known as platoon) allows to lower the overall aerodynamic drag and, therefore, to reduce fuel consumption and greenhouse gas emissions. However, due…

This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…

The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…

This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and…

Traffic management and on-road safety have been a concern for the transportation authorities and the engineering communities for many years. Most of the implemented technologies for intelligent highways focus on safety measures and…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…

Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…

This work develops a control framework for the autonomous overtaking of connected and automated vehicles (CAVs) in a mixed traffic environment, where the overtaken vehicle is an unconnected but interactive human-driven vehicle. The proposed…

This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…

We present a case study applying learning-based distributionally robust model predictive control to highway motion planning under stochastic uncertainty of the lane change behavior of surrounding road users. The dynamics of road users are…