Related papers: Optimal Control of Connected Automated Vehicles wi…
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the…
Control barrier functions (CBFs) recently introduced a systematic way to guarantee the system's safety through set invariance. Together with a nominal control method, it establishes a safety-critical control mechanism. The resulting safety…
One of the potential capabilities of Connected and Autonomous Vehicles (CAVs) is that they can have different route choice behavior and driving behavior compared to human Driven Vehicles (HDVs). This will lead to mixed traffic flow with…
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
Implementing obstacle avoidance in dynamic environments is a challenging problem for robots. Model predictive control (MPC) is a popular strategy for dealing with this type of problem, and recent work mainly uses control barrier function…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
Lane-free vehicle movement has been recently proposed for connected automated vehicles (CAV) due to various potential advantages. One such advantage stems from the fact that incremental changes of the road width in lane-free traffic lead to…
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially for systems having low computational resources, higher-order…
In this letter, we address the problem of improving the feasible domain of the solution of a decentralized control framework for coordinating connected and automated vehicles (CAVs) at signal-free intersections as the traffic volume…
Control Barrier Functions (CBFs) provide an elegant framework for constraining nonlinear control system dynamics to remain within an invariant subset of a designated safe set. However, identifying a CBF that balances performance-by…
In this paper, we introduce a class of future-focused control barrier functions (ff-CBF) aimed at improving traditionally myopic CBF based control design and study their efficacy in the context of an unsignaled four-way intersection…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework…
This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
This paper presents a control design method that achieves safety for systems with unmodeled dynamics at the plant input. The proposed method combines control barrier functions (CBFs) and integral quadratic constraints (IQCs). Simplified,…
Ensuring the safety of Vulnerable Road Users (VRUs) is a critical challenge in the development of advanced autonomous driving systems in smart cities. Among vulnerable road users, bicyclists present unique characteristics that make their…
A typical urban signalized intersection poses significant modeling and control challenges in a mixed traffic environment consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we address the…