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Autonomous driving systems require real-time environmental perception to ensure user safety and experience. Streaming perception is a task of reporting the current state of the world, which is used to evaluate the delay and accuracy of…
Vehicle-to-vehicle communications can be unreliable as interference causes communication failures. Thereby, the information flow topology for a platoon of Connected Autonomous Vehicles (CAVs) can vary dynamically. This limits existing…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
Connected Autonomous Vehicles (CAVs) are widely expected to improve traffic safety and efficiency by exploiting information from surrounding vehicles via V2V communication. A CAV typically adapts its speed based on information from the…
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…
This paper studies the robustness of a dynamic average consensus algorithm to communication delay over strongly connected and weight-balanced (SCWB) digraphs. Under delay-free communication, the algorithm of interest achieves a practical…
Time-dependent fixed-time control is a cost-effective control method that is widely employed at signalized intersections in numerous countries. Existing optimization models rely on traditional delay models with specific assumptions…
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe,…
Research on the sixth generation cellular networks (6G) is gaining huge momentum to achieve ubiquitous wireless connectivity. Connected autonomous driving (CAV) is a critical vertical envisioned for 6G, holding great potentials of improving…
A vehicle-to-infrastructure communication can inform an intersection controller about the location and speed of connected vehicles. Recently, the design of adaptive intersection control algorithms that take advantage of this information…
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…
In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
Addressing safe and efficient interaction between connected and automated vehicles (CAVs) and human-driven vehicles in a mixed-traffic environment has attracted considerable attention. In this paper, we develop a framework for stochastic…
This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control algorithm for the connected and automated vehicle (CAV) platoon considering the heterogeneity of CAVs in terms of the inertial lag. Furthermore, a…
In this paper, we investigate the effect of signal delay in communicated information in connected and autonomous vehicles. In particular, we relate this delay's effect on the selection of the time headway in predecessor-follower type…