Related papers: Distributed Optimization for Traffic Light Control…
Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…
We present a hybrid multi-robot coordination framework that combines decentralized path planning with centralized conflict resolution. In our approach, each robot autonomously plans its path and shares this information with a centralized…
Summary: Traffic light coordination is a complex problem. In this paper, we extend previous work on an abstract model of city traffic to allow for multiple street intersections. We test a self-organizing method in our model, showing that it…
In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…
We consider the problem of incentivization and optimal control of autonomous vehicles for improving traffic congestion. In our scenario, autonomous vehicles must be incentivized in order to participate in traffic improvement. Using the…
Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…
On-ramp merging areas are deemed to be typical bottlenecks for freeway networks due to the intensive disturbances induced by the frequent merging, weaving, and lane-changing behaviors. The Connected and Autonomous Vehicles (CAVs), benefited…
Ramp metering, a traditional traffic control strategy for conventional vehicles, has been widely deployed around the world since the 1960s. On the other hand, the last decade has witnessed significant advances in connected and automated…
Effective mixed traffic control requires balancing efficiency, fairness, and safety. Existing approaches excel at optimizing efficiency and enforcing safety constraints but lack mechanisms to ensure equitable service, resulting in…
Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
Human drivers may behave in an imprecise/unstable manner, leading to traffic oscillations which are harmful to traffic throughput. Recent field experiments have shown that the control of a single autonomous vehicle (AV) can increase traffic…
Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in…
This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…
Vehicle trajectory optimization is essential to ensure vehicles travel efficiently and safely. This paper presents an infrastructure assisted constrained connected automated vehicles (CAVs) trajectory optimization method on curved roads.…
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the presence of multiple control barrier functions (CBF). The…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…