Related papers: Dynamic Speed Harmonization
The rapid advancements in autonomous vehicle (AV) technology promise enhanced safety and operational efficiency. However, frequent lane changes and merging maneuvers continue to pose significant safety risks and disrupt traffic flow. This…
In dense traffic scenarios, ensuring safety while keeping high task performance for autonomous driving is a critical challenge. To address this problem, this paper proposes a computationally-efficient spatiotemporal receding horizon control…
One of the key ideas to make Intelligent Transportation Systems (ITS) work effectively is to deploy advanced communication and cooperative control technologies among the vehicles and road infrastructures. In this spirit, we propose a…
Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road…
Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…
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…
Connected and automated vehicles (CAVs) have the potential to enhance driving safety, for example by enabling safe vehicle following and more efficient traffic scheduling. For such future deployments, safety requirements should be…
This study underscores the vital importance of intelligent driving functions in enhancing road safety and driving comfort. Central to our research is the challenge of obtaining sufficient test data for evaluating these functions, especially…
Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
Computing the shortest-path distance between any two given vertices in road networks is an important problem. A tremendous amount of research has been conducted to address this problem, most of which are limited to static road networks.…
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,…
This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…
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…
If a bus line becomes unstable, passengers waiting time will be lengthened and buses capacities will be mismatched. To stabilize a high-frequency bus line, many holding strategies have been proposed. Among these strategies, some need to…
Highway traffic states data collected from a network of sensors can be considered a high-dimensional nonlinear dynamical system. In this paper, we develop a novel data-driven method -- anti-circulant dynamic mode decomposition with…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
Synchronization phenomena are pervasive in coupled nonlinear systems across the natural world and engineering domains. Understanding how to dynamically identify the parameter space (or network structure) of coupled nonlinear systems in a…
Collisions, crashes, and other incidents on road networks, if left unmitigated, can potentially cause cascading failures that can affect large parts of the system. Timely handling such extreme congestion scenarios is imperative to reduce…
With the rapid development of connected and automated vehicles (CAVs) and intelligent transportation infrastructure, CAVs, connected human-driven vehicles (CHVs), and un-connected human-driven vehicles (HVs) will coexist on the roads in the…