Related papers: Human-Machine Shared Control Approach for the Take…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…
We address the problem of coordinating a team of robots to cover an unknown environment while ensuring safe operation and avoiding collisions with non-cooperative agents. Traditional coverage strategies often rely on simplified assumptions,…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to…
Transferring human motion to a mobile robotic manipulator and ensuring safe physical human-robot interaction are crucial steps towards automating complex manipulation tasks in human-shared environments. In this work, we present a novel…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…
This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
As the development of autonomous vehicles rapidly advances, the use of convoying/platooning becomes a more widely explored technology option for saving fuel and increasing the efficiency of traffic. In cooperative adaptive cruise control…
This paper considers a cooperative cruise control problem from a predictive control perspective. Online decision-making is used to be executed during the driving process based on the information obtained from the network. We formalize a…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs is the so-called cooperative adaptive cruise control (CACC)…
Adaptive Cruise Control (ACC) systems have been widely commercialized in recent years. However, existing ACC systems remain vulnerable to close-range cut-ins, a behavior that resembles "road bullying". To address this issue, this research…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Evidence in the literature shows that automated and human driving modes demonstrate different driving characteristics, i.e., headway policy, spacing policy, reaction time, comfortable acceleration, and others. These differences alter…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
Lane changes are common yet challenging driving maneuvers that require continuous decision-making and dynamic interaction with surrounding vehicles. Relying solely on human drivers for lane-changing can lead to traffic disturbances due to…