Related papers: Provably-Correct Safety Protocol for Cooperative P…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
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…
Connected vehicle (CV) technology is among the most heavily researched areas in both the academia and industry. The vehicle to vehicle (V2V), vehicle to infrastructure (V2I) and vehicle to pedestrian (V2P) communication capabilities enable…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Platoon formation with connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with unknown dynamics and control actions. In this paper, we…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
The advancement of cooperative autonomous vehicle systems depends heavily on effective coordination between multiple agents, aiming to enhance traffic efficiency, fuel economy, and road safety. Despite these potential benefits, real-world…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…
Control barrier functions guarantee safety but typically require accurate system models. Parametric uncertainty invalidates these guarantees. Existing robust methods maintain safety via worst-case bounds, limiting performance, while modular…
Platooning and coordination are two implementation strategies that are frequently proposed for traffic control of connected and autonomous vehicles (CAVs) at signal-free intersections instead of using conventional traffic signals. However,…
We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…
Platooning on highways with connected and automated vehicles (CAVs) has attracted considerable attention, while how to mange and coordinate platoons in urban networks remains largely an open question. This scientific gap mainly results from…
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
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…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
In this paper, we theoretically develop and numerically validate an asymmetric linear bilateral control model (LBCM). The novelty of the asymmetric LBCM is that using this model all the follower vehicles in a platoon can adjust their…
Cooperative automated vehicles exchange information to assist each other in creating a more precise and extended view of their surroundings, with the aim of improving automated-driving decisions. This paper addresses the need for scalable…