Related papers: MPC-Based Emergency Vehicle-Centered Multi-Interse…
In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
Emergency vehicles (EMVs) play a critical role in a city's response to time-critical events such as medical emergencies and fire outbreaks. The existing approaches to reduce EMV travel time employ route optimization and traffic signal…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…
This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe…
Ill-managed intersections are the primary reasons behind the increasing traffic problem in urban areas, leading to nonoptimal traffic-flow and unnecessary deadlocks. In this paper, we propose an automated intersection management system that…
A common problem in science networks and private wide area networks (WANs) is that of achieving predictable data transfers of multiple concurrent flows by maintaining specific pacing rates for each. We address this problem by developing a…
Leveraging the accuracy and consistency of vehicle motion control enabled by the connected and automated vehicle technology, we propose the rhythmic control (RC) scheme that allows vehicles to pass through an intersection in a conflict-free…
Traffic incident detection plays a key role in intelligent transportation systems, which has gained great attention in transport engineering. In the past, traditional machine learning (ML) based detection methods achieved good performance…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
A macroscopic model is proposed to depict the traffic dynamics involved in urban traffic systems. The link dynamics are described based on the cell-transmission model and bounded by the link capacities, while the flow dynamics are proposed…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) at urban intersections. The policy designating the sequence that each CAV crosses the intersection,…
The electric power distribution network (PDN) and the transportation network (TN) are generally operated/coordinated by different entities. However, they are coupled with each other due to electric vehicle charging stations (EVCSs). This…
Mobile Edge Computing (MEC) holds excellent potential in Congestion Management (CM) of 6G vehicular networks. A reasonable schedule of MEC ensures a more reliable and efficient CM system. Unfortunately, existing parallel and sequential…
This paper offers an integrative data-driven physics-inspired approach to model and control traffic congestion in a resilient and efficient manner. While existing physics-based approaches commonly assign density and flow traffic states by…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…