Related papers: Centralized Model-Predictive Control with Human-Dr…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…
This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggered distributed model predictive control method is proposed to…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
We introduce a novel distributed control architecture for heterogeneous platoons of linear time--invariant autonomous vehicles. Our approach is based on a generalization of the concept of {\em leader--follower} controllers for which we…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
Existing results on finite-time model predictive control (MPC) often rely on terminal equality constraint, switching inside one-step region, or terminal cost with short control horizon, leading to limited initial feasibility. This paper…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
This paper introduces a centralized approach for fuel-efficient urban platooning by leveraging real-time Vehicle- to-Everything (V2X) communication and Signal Phase and Timing (SPaT) data. A nonlinear Model Predictive Control (MPC)…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial…
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…
Platooning represents an advanced driving technology designed to assist drivers in traffic convoys of varying lengths, enhancing road safety, reducing driver fatigue, and improving fuel efficiency. Sophisticated automated driving assistance…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
In this paper, a novel approach to spacing policies for vehicle platoons and a framework for control design is presented. Whereas traditional approaches aim to mitigate the effect of actuation and communication delays on the spacing error,…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…