Related papers: Distributed Observer Design for Tracking Platoon o…
This paper addresses the problem of distributed state estimation for discrete-time linear time-invariant systems. Building on the framework proposed in Gao & Yang (2025), we exploit the Jordan canonical form of the system matrix to develop…
The next generation networks offers significant potential to advance Intelligent Transportation Systems (ITS), particularly through the integration of Digital Twins (DTs). However, ensuring the uninterrupted operation of DTs through…
We study the problem of collaboratively estimating the state of a discrete-time LTI process by a network of sensor nodes interacting over a time-varying directed communication graph. Existing approaches to this problem either (i) make…
This paper presents a distributed traffic state estimation framework in which infrastructure sensors and connected vehicles act as autonomous, cooperative sensing nodes. These nodes share local traffic estimates with nearby nodes using…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
This paper studies a network of observers for a distributed estimation problem, where each observer assesses a portion of output of a given LTI system. The goal of each observer is to compute a state estimate that asymptotically converges…
Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However,…
In this paper, we first establish an exponential stability result for a class of linear switched systems and then apply this result to show the existence of the distributed observer for a discrete-time leader system over jointly connected…
Connectivity in connected and autonomous vehicles (CAVs) introduces vulnerability to cyber threats such as false data injection (FDI) attacks, which can compromise system reliability and safety. To ensure resilience, this paper proposes a…
In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…
Connected and Autonomous Vehicles (CAVs) are transforming modern transportation by enabling cooperative applications such as vehicle platooning, where multiple vehicles travel in close formation to improve efficiency and safety. However,…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…
The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the…
Traffic management and on-road safety have been a concern for the transportation authorities and the engineering communities for many years. Most of the implemented technologies for intelligent highways focus on safety measures and…
Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…