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In most modern cities, traffic congestion is one of the most salient societal challenges. Past research has shown that inserting a limited number of autonomous vehicles (AVs) within the traffic flow, with driving policies learned…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
The last decades have witnessed the breakthrough of autonomous vehicles (AVs), and the perception capabilities of AVs have been dramatically improved. Various sensors installed on AVs, including, but are not limited to, LiDAR, radar, camera…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
One of the potential capabilities of Connected and Autonomous Vehicles (CAVs) is that they can have different route choice behavior and driving behavior compared to human Driven Vehicles (HDVs). This will lead to mixed traffic flow with…
A fundamental problem in traffic networks is driving under safety and limited physical space constraints. In this paper, we design longitudinal vehicle controllers and study the dynamics of a system of homogeneous vehicles on a single-lane…
Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…
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 design of autonomous vehicles (AVs) has mostly focused on achieving a prespecified goal for an individually controlled AV or for a swarm of cooperatively controlled AVs. However, the impact of autonomous driving on human-driven…
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent…
For a foreseeable future, autonomous vehicles (AVs) will operate in traffic together with human-driven vehicles. Their planning and control systems need extensive testing, including early-stage testing in simulations where the interactions…
Connected automated vehicles (CAVs) have shown great potential in improving traffic throughput and stability. Although various longitudinal control strategies have been developed for CAVs to achieve string stability in mixed-autonomy…
The stability of autonomous vehicle platoons with limits on acceleration and deceleration is determined. If the leading-vehicle acceleration remains within the limits, all vehicles in the platoon remain within the limits when the…
Recent transportation research highlights the potential of autonomous vehicles (AV) to improve traffic flow mobility as they are able to maintain smaller car-following distances. However, as a unique class of ground robots, AVs are…
Auto manufacturers and research groups are working on autonomous driving for long period and achieved significant progress. Autonomous vehicles (AV) are expected to transform road traffic reduction from current conditions, avoiding…
The main objective of the connected and automated vehicle (CAV) platoon control problem is to regulate CAVs' position while ensuring stability and accounting for vehicle dynamics. Although this problem has been studied in the literature,…
This paper presents an analytical approximation framework to understand the dynamics of traffic wave propagation for Automated Vehicles (AVs) during traffic oscillations. The framework systematically unravels the intricate relationships…
Free-flow road networks, such as suburban highways, are increasingly experiencing traffic congestion due to growing commuter inflow and limited infrastructure. Traditional control mechanisms, such as traffic signals or local heuristics, are…
Many of the anticipated advantages of connected and automated vehicles or automated vehicles without connectivity (CAVs and AVs respectively) on congestion and energy consumption are questionable. Some studies provide quantitative answers…
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of…