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Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
This paper develops an adaptive traffic control policy inspired by Maximum Pressure (MP) while imposing coordination across intersections. The proposed Coordinated Maximum Pressure-plus-Penalty (CMPP) control policy features a local…
Hybrid traffic laws represent an innovative approach to managing mixed environments of connected autonomous vehicles (CAVs) and human-driven vehicles (HDVs) by introducing separate sets of regulations for each vehicle type. These laws are…
Autonomous intersection management has the potential to reduce road traffic congestion and energy consumption. To realize this potential, efficient algorithms are needed. However, most existing studies locally optimize one intersection at a…
Safe, agile, and socially compliant multi-robot navigation in cluttered and constrained environments remains a critical challenge. This is especially difficult with self-interested agents with unique, unknown priorities in decentralized…
The integration of Autonomous Vehicles (AVs) into existing human-driven traffic systems poses considerable challenges, especially within environments where human and machine interactions are frequent and complex, such as at unsignalized…
One of the main challenges in managing traffic at multilane intersections is ensuring smooth coordination between human-driven vehicles (HDVs) and connected autonomous vehicles (CAVs). This paper presents a novel traffic signal control…
Most conventional heterogeneous network selection strategies applied in heterogeneous vehicular network regard the performance of each network constant in various traffic scenarios. This assumption leads such strategies to be ineffective in…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…
The upgrading and updating of vehicles have accelerated in the past decades. Out of the need for environmental friendliness and intelligence, electric vehicles (EVs) and connected and automated vehicles (CAVs) have become new components of…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Traffic is a problem in many urban areas worldwide. Traffic flow is dictated by certain devices such as traffic lights. The traffic lights signal when each lane is able to pass through the intersection. Often, static schedules interfere…
Over the years, reinforcement learning has emerged as a popular approach to develop signal control and vehicle platooning strategies either independently or in a hierarchical way. However, jointly controlling both in real-time to alleviate…
Cooperative driving at signal-free intersections, which aims to improve driving safety and efficiency for connected and automated vehicles, has attracted increasing interest in recent years. However, existing cooperative driving strategies…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves…
Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…
Intersections are essential road infrastructures for traffic in modern metropolises. However, they can also be the bottleneck of traffic flows as a result of traffic incidents or the absence of traffic coordination mechanisms such as…
Understanding the interdependence between autonomous and human-operated vehicles remains an ongoing challenge, with significant implications for the safety and feasibility of autonomous driving.This interdependence arises from inherent…