Related papers: Input-to-State Safety with Input Delay in Longitud…
Current state-of-art traffic microsimulation tools cannot accurately estimate safety, efficiency, and mobility benefits of automated driving systems and vehicle connectivity because of not considering physical and powertrain characteristics…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavior and mitigation of traffic congestions. Yet, to deploy…
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state constraints) and controller infeasibility (violation of input…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…
It is envisioned that, in the future, most vehicles on our roadway will be controlled autonomously and will be connected via vehicle to everything (V2X) wireless communication networks. Developing a connected and automated vehicle (CAV)…
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…
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…
Usually, a controller for path- or trajectory tracking is employed in autonomous driving. Typically, these controllers generate high-level commands like longitudinal acceleration or force. However, vehicles with combustion engines expect…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
A modification to the ${\cal L}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of…