Related papers: Optimization based coordination of autonomous vehi…
We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be…
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside.…
The security of Automated Vehicles (AVs) is an important emerging area of research in traffic safety. Methods have been published and evaluated in experimental vehicles to secure safe AV control in the presence of attacks, but human motion…
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
A typical urban signalized intersection poses significant modeling and control challenges in a mixed traffic environment consisting of connected automated vehicles (CAVs) and human-driven vehicles (HDVs). In this paper, we address the…
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…
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
Autonomous Vehicle (AV) technology is advancing rapidly, promising a significant shift in road transportation safety and potentially resolving various complex transportation issues. With the increasing deployment of AVs by various…
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
Autonomous intersection management has the potential to reduce road traffic congestion and energy consumption. To realize this potential, efficient algorithms are needed. However, most existing studies locally optimize one intersection at a…