Related papers: Distributed Observers-based Cooperative Platooning…
This paper studies cooperative tracking problem of heterogeneous Euler-Lagrange systems with an uncertain leader. Different from most existing works, system dynamic knowledge of the leader node is unaccessible to any follower node in our…
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
Cooperative control of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic, where human-driven vehicles with unknown dynamics coexist, data-driven predictive control techniques allow for CAV safe and…
Connected Autonomous Vehicles (CAVs) are widely expected to improve traffic safety and efficiency by exploiting information from surrounding vehicles via V2V communication. A CAV typically adapts its speed based on information from the…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
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…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
As connected and autonomous vehicles become more widespread, platooning has emerged as a key strategy to improve road capacity, reduce fuel consumption, and enhance traffic flow. However, the benefits of platoons strongly depend on their…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…