Related papers: From Road Congestion to Vehicle-Control Enabled Ar…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
In this paper, we propose a control design methodology for a linearized continuum traffic model in the congested regime. The continuum traffic flow on a highway is modeled using a linearized quasilinear hyperbolic partial differential…
As electric vehicles (EVs) are increasingly adopted as platforms for connected and automated vehicles (CAVs), enhancing their energy efficiency becomes critical. With the emergence of vehicle-to-vehicle (V2V) communication, cooperative…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
This article introduces the hardware-software co-design of the control system for an autonomy-enabled formula-style high-speed racecar that will be utilized as the deployment platform for high-level autonomy in the first ever head-to-head…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
This paper investigates the lateral control problem in vehicular path-following when the feedback sensor(s) are mounted at an arbitrary location in the longitudinal symmetric axis. We point out that some existing literature has abused the…
Cooperative driving relies on communication among vehicles to create situational awareness. One application of cooperative driving is Cooperative Adaptive Cruise Control (CACC) that aims at enhancing highway transportation safety and…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
Moving bottlenecks, such as slow-driving vehicles, are commonly thought of as impediments to efficient traffic flow. Here, we demonstrate that in certain situations, moving bottlenecks---properly controlled---can actually be beneficial for…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
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…
Recent advancements in connected autonomous vehicle (CAV) technology have sparked growing research interest in lane-free traffic (LFT). LFT envisions a scenario where all vehicles are CAVs, coordinating their movements without lanes to…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe…
Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…