Related papers: A low-cost Framework for Decentralized Autonomous …
Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
This paper presents a mixed traffic control policy designed to optimize traffic efficiency across diverse road topologies, addressing issues of congestion prevalent in urban environments. A model-free reinforcement learning (RL) approach is…
Optimal traffic-light settings are generally hard to obtain, certainly for actuated access control of an intersection. Typically, computationally expensive (microscopic) simulations or complicated optimization schemes are required to find…
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…
Controlling and coordinating urban traffic flow through robot vehicles is emerging as a novel transportation paradigm for the future. While this approach garners growing attention from researchers and practitioners, effectively managing and…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because…
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…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…
For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…
In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller…
Recent advancements in vehicle autonomy have drawn interest in understanding the impact of autonomous vehicles on traffic systems. In this paper, we study a traffic assignment problem in a mixed-autonomy setting where both human-driven and…
In this paper, we introduce a temporal logic-based safety filter for Autonomous Intersection Management (AIM), an emerging infrastructure technology for connected vehicles to coordinate traffic flow through intersections. Despite…
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…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
We define a multiaccess communication scheme that effectively eliminates interference and resolves collisions in many-to-one and many-to-many communication scenarios. Each transmitter is uniquely identified by a steering vector. All signals…
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…