Related papers: Robust Real-Time Coordination of CAVs: A Distribut…
Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden 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…
In this paper, we provide a decentralized theoretical framework for coordination of connected and automated vehicles (CAVs) at different traffic scenarios. The framework includes: (1) an upper-level optimization that yields for each CAV its…
We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…
Transportation system is facing a sharp disruption since the Connected Autonomous Vehicles (CAVs) can free people from driving and provide good driving experience with the aid of Vehicle-to-Vehicle (V2V) communications. Although CAVs bring…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to safely navigate through a conflict area (e.g., traffic intersections, merging roadways, roundabouts). Previous studies have shown that such a…
Connected and automated vehicle (CAV) technology is providing urban transportation managers tremendous opportunities for better operation of urban mobility systems. However, there are significant challenges in real-time implementation, as…
We address the problem of optimizing the performance of a dynamic system while satisfying hard safety constraints at all times. Implementing an optimal control solution is limited by the computational cost required to derive it in real…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
Vehicle-to-anything connectivity, especially for autonomous vehicles, promises to increase passenger comfort and safety of road traffic, for example, by sharing perception and driving intention. Cooperative maneuver planning uses…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
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 increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particularly in accommodating diverse passenger needs and dynamic…
In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…