Related papers: Distributed Attack-Resilient Platooning Against Fa…
This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…
The Adaptive Cruise Control (ACC) system automatically adjusts the vehicle speed to maintain a safe distance between the vehicle and the lead (ahead) vehicle. The controller's decision to accelerate or decelerate is computed using the…
This article investigates the security issue caused by false data injection attacks in distributed estimation, wherein each sensor can construct two types of residues based on local estimates and neighbor information, respectively. The…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
Safe planning of an autonomous agent in interactive environments -- such as the control of a self-driving vehicle among pedestrians -- poses a major challenge as the behavior of the environment is unknown and reactive to the behavior of the…
In autonomous driving, the hybrid strategy of deep reinforcement learning and cooperative adaptive cruise control (CACC) can fully utilize the advantages of the two algorithms and significantly improve the performance of car following.…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This paper addresses the security allocation problem in a networked control system under stealthy injection attacks. The networked system is comprised of interconnected subsystems which are represented by nodes in a digraph. An adversary…
An adaptive traffic signal controller (ATSC) combined with a connected vehicle (CV) concept uses real-time vehicle trajectory data to regulate green time and has the ability to reduce intersection waiting time significantly and thereby…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…
Being one of the most promising applications enabled by connected and automated vehicles (CAV) technology, Cooperative Adaptive Cruise Control (CACC) is expected to be deployed in the near term on public roads.} Thus far, the majority of…
A distributed coordination method for solving multi-vehicle lane changes for connected autonomous vehicles (CAVs) is presented. Existing approaches to multi-vehicle lane changes are passive and opportunistic as they are implemented only…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…