Related papers: From Road Congestion to Vehicle-Control Enabled Ar…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance.…
A macroscopic model is proposed to depict the traffic dynamics involved in urban traffic systems. The link dynamics are described based on the cell-transmission model and bounded by the link capacities, while the flow dynamics are proposed…
We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as…
This paper proposes a traffic control scheme to alleviate traffic congestion in a network of interconnected signaled lanes/roads. The proposed scheme is emergency vehicle-centered, meaning that it provides an efficient and timely routing…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
Learning-based congestion control (CC), including Reinforcement-Learning, promises efficient CC in a fast-changing networking landscape, where evolving communication technologies, applications and traffic workloads pose severe challenges to…
Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…
We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for…
Cooperative Intelligent Transportation Systems (C-ITS) will change the modes of road safety and traffic management, especially at intersections without traffic lights, namely unsignalized intersections. Existing researches focus on vehicle…
In this paper, we investigate traffic signal control in a network of interconnected intersections, aiming to balance lane-level vehicle densities through optimal green-time allocation. We develop a two-lane traffic flow model that…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…
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…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
We present results of numerical simulations of the effect of driver behavior on spatiotemporal congested traffic patterns that result from traffic breakdown at an on-ramp bottleneck. The simulations are made with the Kerner-Klenov…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…
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…