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A Second-order Nonlinear Differentiator (SOND) is presented in this paper. By combining both linear and nonlinear terms, this tracking differentiator shows better dynamical performances than other conventional differentiators do. The…
Human-driven vehicles (HVs) amplify naturally occurring perturbations in traffic, leading to congestion--a major contributor to increased fuel consumption, higher collision risks, and reduced road capacity utilization. While previous…
In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually…
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…
Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation,…
Routing controllability of connected and autonomous vehicles (CAVs) has been shown to reduce the adverse effects of selfish routing on the network efficiency. However, the assumption that CAV owners would readily allow themselves to be…
We report time-resolved x-ray scattering measurements of the transient structural response of the sliding {\bf Q}$_{1}$ charge-density-wave (CDW) in NbSe$_{3}$ to a reversal of the driving electric field. The observed time scale…
A novel paradigm for vehicular traffic in the era of connected and automated vehicles (CAVs) is proposed, which includes two combined principles: lane-free traffic and vehicle nudging, whereby vehicles are "pushing" (from a distance, using…
We study the phenomenon of jamming in driven diffusive systems. We introduce a simple microscopic model in which jamming of a conserved driven species is mediated by the presence of a non-conserved quantity, causing an effective long range…
The scalar auxiliary variable (SAV) approach of Shen et al. (2018), which presents a novel way to discretize a large class of gradient flows, has been extended and improved by many authors for general dissipative systems. In this work we…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…
The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small…
In earlier work, a decentralized optimal control framework was established for coordinating online connected and automated vehicles (CAVs) in merging roadways, urban intersections, speed reduction zones, and roundabouts. The dynamics of…
Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
Multi-antenna (MIMO) processing is a promising solution to the problem of jammer mitigation. Existing methods mitigate the jammer based on an estimate of its subspace (or receive statistics) acquired through a dedicated training phase. This…
This paper characterizes safe following distances for on-road driving when vehicles can avoid collisions by either braking or by swerving into an adjacent lane. In particular, we focus on safety as defined in the Responsibility-Sensitive…
Designing traffic-smoothing cruise controllers that can be deployed onto autonomous vehicles is a key step towards improving traffic flow, reducing congestion, and enhancing fuel efficiency in mixed autonomy traffic. We bypass the common…
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…