Related papers: A Hierarchical Robust Control Strategy for Decentr…
This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
The management of mixed traffic that consists of robot vehicles (RVs) and human-driven vehicles (HVs) at complex intersections presents a multifaceted challenge. Traditional signal controls often struggle to adapt to dynamic traffic…
Routing controllability of connected and autonomous vehicles (CAVs) has been shown to reduce the adverse effects of selfish routing on the network efficiency. However, the assumption that CAV owners would readily allow themselves to be…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
As an emerging technology, Connected Autonomous Vehicles (CAVs) are believed to have the ability to move through intersections in a faster and safer manner, through effective Vehicle-to-Everything (V2X) communication and global observation.…
Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…
This study aims to develop a real-time intersection optimization (RIO) control algorithm to efficiently serve traffic of Connected and Automated Vehicles (CAVs) and conventional vehicles (CNVs). This paper extends previous work to consider…
Connected and Automated Vehicles (CAVs) offer significant potential for improving energy efficiency and lowering vehicle emissions through eco-driving technologies. Control algorithms in CAVs leverage look-ahead route information and…
The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
Motivated by the fact that intelligent traffic control systems have become inevitable demand to cope with the risk of traffic congestion in urban areas, this paper develops a distributed control strategy for urban traffic networks. Since…
This paper describes a decentralized control strategy for the automation of road intersections and studies its impact on traffic in a realistic urban road network. The controller incorporates a consensus-based auction algorithm (CBAA-M),…
In this paper, we investigate traffic signal control in a network of interconnected intersections, aiming to balance lane-level vehicle densities through optimal green-time allocation. We develop a two-lane traffic flow model that…
The rapid evolution of urban air mobility (UAM) is reshaping the future of transportation by integrating aerial vehicles into urban transit systems. The design of aerial intersections plays a critical role in the phased development of UAM…