Related papers: Distributed Traffic Signal Control via Coordinated…
Stream Control Transmission Protocol (SCTP) was introduced in 2001 as a multipath variant to traditional transport protocols, i.e. Transmission Control Protocol (TCP) and User Datagram Protocol (UDP). Concurrent Multipath Transfer (CMT) has…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
In the modern paradigm of multi-agent networks, communication has become one of the main bottlenecks for decentralized optimization, where a large number of agents are involved in minimizing the average of the local cost functions. In this…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
For nonlinear multi-agent systems with high relative degrees, achieving formation control and obstacle avoidance in a distributed manner remains a significant challenge. To address this issue, we propose a novel distributed safety-critical…
We propose a Stochastic MPC (SMPC) formulation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles for collision avoidance constraints. The multi-modal predictions are obtained…
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust formulations that are amenable to distributed design and…
Leveraging the concept of the macroscopic fundamental diagram (MFD), perimeter control can alleviate network-level congestion by identifying critical intersections and regulating them effectively. Considering the time-varying nature of…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
Modern power systems are now in continuous process of massive changes. Increased penetration of distributed generation, usage of energy storage and controllable demand require introduction of a new control paradigm that does not rely on…
With the forecasted emergence of autonomous vehicles in urban traffic networks, new control policies are needed to leverage their potential for reducing congestion. While several efforts have studied the fully autonomous traffic control…
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…
This paper considers the application of Model Predictive Control (MPC) to a weighted coverage path planning (WCPP) problem. The problem appears in a wide range of practical applications, including search and rescue (SAR) missions. The basic…
Cooperative coordination at unsignalized road intersections, which aims to improve the driving safety and traffic throughput for connected and automated vehicles, has attracted increasing interests in recent years. However, most existing…
Cumulative prospect theory (CPT) is known to model human decisions well, with substantial empirical evidence supporting this claim. CPT works by distorting probabilities and is more general than the classic expected utility and coherent…
Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
In the modern paradigm of multi-agent networks, communication has become one of the main bottlenecks for decentralized optimization, where a large number of agents are involved in minimizing the average of the local cost functions. In this…
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constraints. The proposed…
Lane merging is one of the critical tasks for self-driving cars, and how to perform lane-merge maneuvers effectively and safely has become one of the important standards in measuring the capability of autonomous driving systems. However,…