Related papers: Safety-Critical Traffic Control by Connected Autom…
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to monitor transportation network conditions and make better decisions for improving safety and transportation efficiency. In this paper, we…
Securing safe driving for connected and autonomous vehicles (CAVs) continues to be a widespread concern, despite various sophisticated functions delivered by artificial intelligence for in-vehicle devices. Diverse malicious network attacks…
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of this form, and with a view toward automotive…
Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-driving…
By using various sensors to measure the surroundings and sharing local sensor information with the surrounding vehicles through wireless networks, connected and automated vehicles (CAVs) are expected to increase safety, efficiency, and…
Lane changing is a complex decision-making problem for Connected and Autonomous Vehicles (CAVs) as it requires balancing traffic efficiency with safety. Although traffic efficiency can be improved by using vehicular communication for…
Connected and Autonomous Vehicles (CAVs) are becoming more widely deployed, but it is unclear how to best deploy smart infrastructure to maximize their capabilities. One key challenge is to ensure CAVs can reliably perceive other agents,…
The advancements in autonomous driving technology, coupled with the growing interest from automotive manufacturers and tech companies, suggest a rising adoption of Connected Autonomous Vehicles (CAVs) in the near future. Despite some…
This paper develops a stochastic and unifying framework to examine variability in car-following (CF) dynamics of commercial automated vehicles (AVs) and its direct relation to traffic-level dynamics. The asymmetric behavior (AB) model by…
Automated Vehicles (AVs) hold promise for revolutionizing transportation by improving road safety, traffic efficiency, and overall mobility. Despite the steady advancement in high-level AVs in recent years, the transition to full automation…
Recent work showed that stabilizing affine control systems to desired (sets of) states while optimizing quadratic costs and observing state and control constraints can be reduced to quadratic programs (QP) by using control barrier functions…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
Traffic management and on-road safety have been a concern for the transportation authorities and the engineering communities for many years. Most of the implemented technologies for intelligent highways focus on safety measures and…
Control barrier functions (CBFs) offer an efficient framework for designing real-time safe controllers. However, CBF-based controllers can be short-sighted, resulting in poor performance, a behaviour which is aggravated in uncertain…
The collective behavior of human-driven vehicles (HVs) produces the well-known stop-and-go waves potentially leading to higher fuel consumption and emissions. This paper investigates the stabilization of traffic flow via a minimum number of…
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework…
This work is concerned with a formal approach for safety controller synthesis of stochastic control systems with both process and measurement noises while considering wireless communication networks between sensors, controllers, and…
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…