Related papers: A Max Pressure Algorithm for Traffic Signals Consi…

We consider a novel, analytical queuing model for vehicle coordination at signal-free intersections. Vehicles arrive at an intersection according to Poisson processes, and the crossing times are constants dependent of vehicle types. We use…

Understanding and predicting pedestrian crossing behavior is essential for enhancing automated driving and improving driving safety. Predicting gap selection behavior and the use of zebra crossing enables driving systems to proactively…

In this paper we present an information theoretic approach to stochastic optimal control problems for systems with compound Poisson noise. We generalize previous work on information theoretic path integral control to discontinuous dynamics…

In this paper, we develop a mechanical system inspired microscopic traffic model to characterize the longitudinal interaction dynamics among a chain of vehicles. In particular, we extend our prior work on mass-spring-damper-clutch based…

This paper proposes a simplified version of classical models for urban transportation networks, and studies the problem of controlling intersections with the goal of optimizing network-wide congestion. Differently from traditional…

In this paper we deal with pedestrian modeling, aiming at simulating crowd behavior in normal and emergency scenarios, including highly congested mass events. We are specifically concerned with a new agent-based, continuous-in-space,…

Microscopic traffic models describe how cars interact with their neighbors in an uninterrupted traffic flow and are frequently used for reference in advanced vehicle control design. In this paper, we propose a novel mechanical system…

We consider the delay properties of max-weight opportunistic scheduling in a multi-user ON/OFF wireless system, such as a multi-user downlink or uplink. It is well known that max-weight scheduling stabilizes the network (and hence yields…

Scheduling is a critical and challenging resource allocation mechanism for multihop wireless networks. It is well known that scheduling schemes that favor links with larger queue length can achieve high throughput performance. However,…

This study proposes a delay-compensated feedback controller based on proximal policy optimization (PPO) reinforcement learning to stabilize traffic flow in the congested regime by manipulating the time-gap of adaptive cruise…

We consider a switch operating under the MaxWeight scheduling algorithm, under any traffic pattern such that all the ports are loaded. This system is interesting to study since the queue lengths exhibit a multi-dimensional state-space…

The model is a "generalized switch", serving multiple traffic flows in discrete time. The switch uses MaxWeight algorithm to make a service decision (scheduling choice) at each time step, which determines the probability distribution of the…

Autonomous agents such as self-driving cars or parcel robots need to recognize and avoid possible collisions with obstacles in order to move successfully in their environment. Humans, however, have learned to predict movements intuitively…

Various methods to automate traffic data collection have recently been developed by many researchers. A macroscopic data collection through image processing has been proposed. For microscopic traffic flow data, such as individual speed and…

Traffic Congestions and accidents are major concerns in today's transportation systems. This thesis investigates how to optimize traffic flow on highways, in particular for merging situations such as intersections where a ramp leads onto…

This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…

The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…

Setting traffic light signals is a classical topic in traffic engineering, and important in heavy-traffic conditions when green times become scarce and longer queues are inevitably formed. For the fixed-cycle traffic-light queue, an…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

In this paper, an eco--driving Pontryagin maximum principle (PMP) algorithm is designed for optimal deceleration and gear shifting in trucks based on switching among a finite set of driving modes. The PMP algorithm is implemented and…