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Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…

This paper is an extended abstract on a traffic model for the train dynamics on a metro line with a junction. The dynamic model includes control laws on the dwell and on the run time, taking into account the passenger travel demand. Our…

This paper focuses on the design of hierarchical control architectures for autonomous systems with energy constraints. We focus on systems where energy storage limitations and slow recharge rates drastically affect the way the autonomous…

The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…

The real-time Railway Traffic Management Problem (rtRTMP) is a challenging optimisation problem in railway transportation. It involves the efficient management of train movements while minimising delay propagation caused by unforeseen…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…

Investigating congestion in train rapid transit systems (RTS) in today's urban cities is a challenge compounded by limited data availability and difficulties in model validation. Here, we integrate information from travel smart card data, a…

Controlling and coordinating urban traffic flow through robot vehicles is emerging as a novel transportation paradigm for the future. While this approach garners growing attention from researchers and practitioners, effectively managing and…

Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…

Controllability, a basic property of various networked systems, has gained profound theoretical applications in complex social, technological, biological, and brain networks. Yet, little attention has been given to the control trajectory…

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

Electricity demand of electric railways is a relatively unexplored source of flexibility in demand response applications in power systems. In this paper, we propose a transactive control based optimization framework for coordinating the…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…

Controlling large populations of thermostatically controlled loads (TCLs), such as water heaters, poses significant challenges due to the need to balance global constraints (e.g., grid stability) with individual requirements (e.g., physical…

In road traffic networks, large traffic volumes may lead to extreme delays. These severe delays are caused by the fact that, whenever the maximum capacity of a road is approached, speeds drop rapidly. Therefore, the focus in this paper is…

The possible unavailability of urban rail-based transport services due to planned maintenance activities may have significant consequences on the perceived quality of service, thus affecting railway attractiveness. To cope with the…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Railway grade crossing is become the major headache for the transportation system. This paper describes an intelligent railway crossing control system for multiple tracks that features a controller which receives messages from incoming and…