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Vehicle-to-vehicle (V2V) communications have a great potential to improve traffic system performance. Most existing work of connected and autonomous vehicles (CAVs) focused on adaptation to downstream traffic conditions, neglecting the…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
This paper investigates the collaboration of multiple connected and automated vehicles (CAVs) in different scenarios. In general, the collaboration of CAVs can be formulated as a nonlinear and nonconvex model predictive control (MPC)…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to reduce pollution, energy consumption, and travel delays. In this paper, we address the problem of vehicle platoon formation in a traffic network with partial…
The paper introduces a new bidirectional microscopic inviscid Adaptive Cruise Control (ACC) model that uses only spacing information from the preceding and following vehicles in order to select the proper control action to avoid collisions…
The introduction of connected and automated vehicles (CAV) is believed to reduce congestion, enhance safety, and improve traffic efficiency. Numerous research studies have focused on controlling pure CAV platoons in fully connected…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This study presents an Actor-Critic Cooperative Compensated Model Predictive Controller (AC3MPC) designed to address unknown system dynamics. To avoid the difficulty of modeling highly complex dynamics and ensuring realtime control…
Cooperative adaptive cruise control (CACC) has been recognized as a fundamental function of autonomous driving, in which platoon stability and energy efficiency are outstanding challenges that are difficult to accommodate in real-world…
Platooning of vehicles with coordinated adaptive cruise control (CACC) capabilities is a promising technology with a strong potential for fuel savings and congestion mitigation. Although some researchers have studied the vehicle-level fuel…
A distributed control of vehicle platooning is referred to as distributed consensus (DC) since many autonomous vehicles (AVs) reach a consensus to move as one body with the same velocity and inter-distance. For DC control to be stable,…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
Platooning connected and autonomous vehicles (CAVs) can improve traffic and fuel efficiency. However, scalable platooning operations require junction-level coordination, which has not been well studied. In this paper, we study the…
Cooperative Adaptive Cruise Control (CACC) plays a pivotal role in enhancing traffic efficiency and safety in Connected and Autonomous Vehicles (CAVs). Reinforcement Learning (RL) has proven effective in optimizing complex decision-making…
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…
Vehicle-to-Everything (V2X) communication has been proposed as a potential solution to improve the robustness and safety of autonomous vehicles by improving coordination and removing the barrier of non-line-of-sight sensing. Cooperative…
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then pieced together…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…