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Intelligent transportation systems (ITS) aim to advance innovative strategies relating to different modes of transport, traffic management, and autonomous vehicles. This paper studies the platoon of connected and autonomous vehicles (CAV)…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
It is envisioned that, in the future, most vehicles on our roadway will be controlled autonomously and will be connected via vehicle to everything (V2X) wireless communication networks. Developing a connected and automated vehicle (CAV)…
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper…
Data-driven predictive control (DPC) has been studied and used in various scenarios, since it could generate the predicted control sequence only relying on the historical input and output data. Recently, based on cloud computing,…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
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…
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical…
We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance observer (DOB) is used to estimate and mitigate disturbances…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we focus on the performance of CAVs at traffic bottlenecks,…
This paper introduces a sensing-centric joint communication and millimeter-wave radar paradigm to facilitate collaboration among intelligent vehicles. We first propose a chirp waveform-based delay-Doppler quadrature amplitude modulation…
Path tracking system plays a key technology in autonomous driving. The system should be driven accurately along the lane and be careful not to cause any inconvenience to passengers. To address such tasks, this paper proposes hybrid tracker…
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…
Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…