Related papers: Coordinating CAV Swarms at Intersections with a De…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
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…
It is anticipated that the era of fully autonomous vehicle operations will be preceded by a lengthy "Transition Period" where the traffic stream will be mixed, that is, consisting of connected autonomous vehicles (CAVs), human-driven…
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…
Safe and smooth interacting with other vehicles is one of the ultimate goals of driving automation. However, recent reports of demonstrative deployments of automated vehicles (AVs) indicate that AVs are still difficult to meet the…
Stop-and-go traffic poses many challenges to tranportation system, but its formation and mechanism are still under exploration.however, it has been proved that by introducing Connected Automated Vehicles(CAVs) with carefully designed…
We consider the problem of cooperative intersection management. It arises in automated transportation systems for people or goods but also in multi-robots environment. Therefore many solutions have been proposed to avoid collisions. The…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
The rapid development of cyber-physical systems is driving a transition toward mixed traffic environments comprising both human-driven and connected and automated vehicles (CAVs). This shift presents a unique opportunity to leverage the…
We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…
With the growing popularity of Unmanned Aerial Vehicles (UAVs) for consumer applications, the number of accidents involving UAVs is also increasing rapidly. Therefore, motion safety of UAVs has become a prime concern for UAV operators. For…
The upgrading and updating of vehicles have accelerated in the past decades. Out of the need for environmental friendliness and intelligence, electric vehicles (EVs) and connected and automated vehicles (CAVs) have become new components of…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
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…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Suppose in a stable urban traffic system populated only by human driven vehicles (HDVs), a given proportion (e.g. 10%) is replaced by a fleet of Connected and Autonomous Vehicles (CAVs), which share information and pursue a collective goal.…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…