Related papers: Optimization-based Coordination of Traffic Lights …
We introduce a heuristic scheduling algorithm for real-time adaptive traffic signal control to reduce traffic congestion. This algorithm adopts a lane-based model that estimates the arrival time of all vehicles approaching an intersection…
This paper describes a decentralized control strategy for the automation of road intersections and studies its impact on traffic in a realistic urban road network. The controller incorporates a consensus-based auction algorithm (CBAA-M),…
This paper proposes an algorithmic technique for a class of optimal control problems where it is easy to compute a pointwise minimizer of the Hamiltonian associated with every applied control. The algorithm operates in the space of relaxed…
Drawings of non-planar graphs always result in edge crossings. When there are many edges crossing at small angles, it is often difficult to follow these edges, because of the multiple visual paths resulted from the crossings that slow down…
Autonomous driving systems present promising methods for congestion mitigation in mixed autonomy traffic control settings. In particular, when coupled with even modest traffic state estimates, such systems can plan and coordinate the…
Cooperation among the traffic signals enables vehicles to move through intersections more quickly. Conventional transportation approaches implement cooperation by pre-calculating the offsets between two intersections. Such pre-calculated…
We propose a model for the intersection of two urban streets. The traffic status of the crossroads is controlled by a set of traffic lights which periodically switch to red and green with a total period of T. Two different types of…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
Traffic light detection is a challenging problem in the context of self-driving cars and driver assistance systems. While most existing systems produce good results on large traffic lights, detecting small and tiny ones is often overlooked.…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
Traffic congestion is a persistent problem in our society. Previous methods for traffic control have proven futile in alleviating current congestion levels leading researchers to explore ideas with robot vehicles given the increased…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…
Real-time optimization of traffic flow addresses important practical problems: reducing a driver's wasted time, improving city-wide efficiency, reducing gas emissions and improving air quality. Much of the current research in traffic-light…
Due to the complex and dynamic character of intersection scenarios, the autonomous driving strategy at intersections has been a difficult problem and a hot point in the research of intelligent transportation systems in recent years. This…