Related papers: On the Redundant Distributed Observability of Mixe…
Decentralized strategies are of interest for local decision-making over multi-vehicle networks. This paper studies mixed traffic networks of human-driven and autonomous vehicles with partial sensor measurements. The idea is to enable the…
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)…
This paper deals with a distributed state estimation problem for jointly observable multi-agent systems operated over various time-varying network topologies. The results apply when the system matrix of the system to be observed contains…
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…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…
State estimation for a class of linear time-invariant systems with distributed output measurements (distributed sensors) and unknown inputs is addressed in this paper. The objective is to design a network of observers such that the state…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
This paper presents a distributed traffic state estimation framework in which infrastructure sensors and connected vehicles act as autonomous, cooperative sensing nodes. These nodes share local traffic estimates with nearby nodes using…
We consider the problem of distributed state estimation of a linear time-invariant (LTI) system by a network of sensors. We develop a distributed observer that guarantees asymptotic reconstruction of the state for the most general class of…
In this letter, we present an approach for learning human driving behavior, without relying on specific model structures or prior distributions, in a mixed-traffic environment where connected and automated vehicles (CAVs) coexist with…
This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…
A simply structured distributed observer is described for estimating the state of a continuous-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
Connected and Automated Vehicles (CAVs) offer a promising solution to the challenges of mixed traffic with both CAVs and Human-Driven Vehicles (HDVs). A significant hurdle in such scenarios is traffic oscillation, or the "stop-and-go"…
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…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Trajectory planning of connected and automated vehicles (CAVs) poses significant challenges in a mixed traffic environment due to the presence of human-driven vehicles (HDVs). In this paper, we apply a framework that allows coordination of…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…