Related papers: Cooperative Predictive Cruise Control: A Bargainin…
To address the safety and efficiency issues of vehicles at multi-lane merging zones, a cooperative decision-making framework is designed for connected automated vehicles (CAVs) using a coalitional game approach. Firstly, a motion prediction…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Vehicle to Vehicle (V2V) communication has a great potential to improve reaction accuracy of different driver assistance systems in critical driving situations. Cooperative Adaptive Cruise Control (CACC), which is an automated application,…
Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…
This paper considers competitive mobility-on-demand systems where a group of vehicle sharing companies, on one hand, want to collectively regulate the traffic of the user queueing network, and on the other hand, maximize their own profits…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…
We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in…
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control applications to increase.…
Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…
Modular automated driving systems commonly handle prediction and planning as sequential, separate tasks, thereby prohibiting cooperative maneuvers. To enable cooperative planning, this work introduces a prediction model that models the…
We present a predictive cruise controller which iteratively improves the fuel economy of a vehicle traveling along the same route every day. Our approach uses historical data from previous trip iterations to improve vehicle performance…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
This paper offers a technique for estimating collision risk for automated ground vehicles engaged in cooperative sensing. The technique allows quantification of (i) risk reduced due to cooperation, and (ii) the increased accuracy of risk…
In this paper, a cooperative decision-making is presented, which is suitable for intention-aware automated vehicle functions. With an increasing number of highly automated and autonomous vehicles on public roads, trust is a very important…
Cooperative driving relies on communication among vehicles to create situational awareness. One application of cooperative driving is Cooperative Adaptive Cruise Control (CACC) that aims at enhancing highway transportation safety and…
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…