Related papers: On stochastic string stability with applications t…

Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…

The positive impacts of platooning on travel time reliability, congestion, emissions, and energy consumption have been shown for homogeneous roadway segments. However, speed limit changes frequently throughout the transportation network,…

Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a…

This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the front or rear of the…

We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…

The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State…

This paper presents a unified string-stability framework for leader-follower multi-agent systems governed by first-, second-, and m-th order consensus protocols operating under an r-predecessor directed communication topology. While string…

The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…

The speed limit changes frequently throughout the transportation network, due to either safety (e.g., change in geometry) or congestion management (e.g., speed harmonization systems). Any abrupt reduction in the speed limit can create a…

In this paper, the convergence and noise-tolerant performance of a tracking differentiator in the presence of multiple stochastic disturbances are investigated for the first time. We consider a quite general case where the input signal is…

We quantify the value-at-risk of inter-vehicle collision and detachment for a class of platoons, which are governed by second-order dynamics in presence of communication time-delay and exogenous stochastic noise. Closed-form expressions for…

The noise can stabilize a fluctuating or a periodically driven metastable state in such a way that the system remains in this state for a longer time than in the absence of white noise. This is the noise enhanced stability phenomenon,…

The emergence dynamics of traffic instability has always attracted particular attention. For several decades, researchers have studied the stability of traffic flow using deterministic traffic models, with less emphasis on the presence of…

Despite growing interest in vehicle platooning research, the effect of communication capability between platoons is not investigated to a depth of depth. In this paper, we extend a single-platoon car-following (CF) model to multi-platoon CF…

Stabilization and sufficient conditions for mixing by stochastic transport are shown. More precisely, given a second order linear operator with possibly unstable eigenvalues on a smooth compact Riemannian manifold, it is shown that the…

This paper considers a string of vehicles where the local control law uses the states of the vehicle's immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the…

This paper investigates the mathematical modeling and the stability of multi-lane traffic in the microscopic scale, studying a model based on two interaction terms. To do this we propose simple lane changing conditions and we study the…

We investigate the stabilization of unstable multidimensional partially observed single-sensor and multi-sensor linear systems driven by unbounded noise and controlled over discrete noiseless channels under fixed-rate information…

In this paper, we study the problem of how to optimally steer the state covariance of a general continuous-time linear stochastic system over a finite time interval subject to additive noise. Optimality here means reaching a target state…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…