Related papers: A Discrete-time Dynamical Model for Optimal Dispat…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…
Both the Mobile edge computing (MEC)-based and fog computing (FC)-aided Internet of Vehicles (IoV) constitute promising paradigms of meeting the demands of low-latency pervasive computing. To this end, we construct a dynamic NOMA-based…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…
Shared mobility systems (e.g., shared cars and ride-hailing services) generate persistent spatial imbalances as vehicles concentrate at popular destinations, leaving trip origins depleted of supply. Operators incur substantial costs in…
Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Large-scale ride-hailing systems often combine real-time routing at the individual request level with a macroscopic Model Predictive Control (MPC) optimization for dynamic pricing and vehicle relocation. The MPC relies on a demand forecast…
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…
In this paper, we design a stochastic Model Predictive Control (MPC) traffic signal control method for an urban traffic network when the uncertainties in the estimation of the exogenous (in/out)-flows and the turning ratios of downstream…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
In this work, we present a novel approach to bias the driving style of an artificial race driver (ARD) for online time-optimal trajectory planning. Our method leverages a nonlinear model predictive control (MPC) framework that combines time…
Shared autonomous electric vehicles can provide on-demand transportation for passengers while also interacting extensively with the electric distribution system. This interaction is especially beneficial after a disaster when the large…
The paper addresses the Vehicle Relocation Problem in free-floating car-sharing services by presenting a solution focused on strategies for repositioning vehicles and transferring personnel with the use of scooters. Our method begins by…
This paper proposes a set of technological solutions to transform existing transport systems into more intelligent, interactive systems by utilizing optimization and control methods that can be implemented in the near future. This will…