Related papers: MPC-Based Emergency Vehicle-Centered Multi-Interse…
This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an algorithm that…
Emergency vehicles (EMVs) play a crucial role in responding to time-critical events such as medical emergencies and fire outbreaks in an urban area. The less time EMVs spend traveling through the traffic, the more likely it would help save…
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
In order to cope with the explosive growth of data traffic which is associated with a wide plethora of emerging applications and services that are expected to be used by both ordinary users and vertical industries, the congestion control…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
This paper develops an adaptive traffic control policy inspired by Maximum Pressure (MP) while imposing coordination across intersections. The proposed Coordinated Maximum Pressure-plus-Penalty (CMPP) control policy features a local…
Coordinated traffic signals seek to provide uninterrupted flow through a series of closely spaced intersections, typically using pre-defined fixed signal timings and offsets. Adaptive traffic signals dynamically change signal timings based…
We propose a two dimensional probabilistic cellular automata for the description of traffic flow in a small city network composed of two intersections. The traffic in the network is controlled by a set of traffic lights which can be…
Inefficiencies in traffic flow through an intersection lead to stopping vehicles, unnecessary congestion, and increased accident risk. In this paper, we propose a traffic signal controller platform demonstrating the ability to increase…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
We present in this article a semi-decentralized approach for urban traffic control, based on the TUC (Traffic responsive Urban Control) strategy. We assume that the control is centralized as in the TUC strategy, but we introduce a…
Although advanced traffic management systems can deal with the heterogeneous traffic flows approaching of intersections, their performances are compromised, when the traffic volume is not distributed uniformly. To evenly distribute the…
The cooperative control of the connected and automated vehicle (CAV) is recognized as an effective approach to alleviate traffic congestion and improve traffic safety, especially for on-ramp bottlenecks. However, in the mixed traffic, the…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
Traffic congestion in dense urban centers presents an economical and environmental burden. In recent years, the availability of vehicle-to-anything communication allows for the transmission of detailed vehicle states to the infrastructure…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…