Related papers: Constrained Control of PDE Traffic Flow via Spatia…

This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method…

Control problems of mixed-autonomy traffic systems that consist of both human-driven vehicles (HV) and autonomous vehicles (AV), have gained increasing attention. This paper focuses on suppressing traffic oscillations in the mixed-autonomy…

Safe control designs for robotic systems remain challenging because of the difficulties of explicitly solving optimal control with nonlinear dynamics perturbed by stochastic noise. However, recent technological advances in computing devices…

Variable Speed Limit (VSL) control has been one of the most popular techniques with the potential of smoothing traffic flow, maximizing throughput at bottlenecks, and improving mobility and safety. Despite the substantial research efforts…

Control barrier function (CBF)-based safety filters provide a systematic way to enforce state constraints, but they can significantly alter the closed-loop dynamics induced by a nominal, stabilizing controller. In particular, the resulting…

This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and…

Model information can be used to predict future trajectories, so it has huge potential to avoid dangerous region when implementing reinforcement learning (RL) on real-world tasks, like autonomous driving. However, existing studies mostly…

Lyapunov functions are popularly used to investigate the stabilization problem of systems of hyperbolic conservation laws with boundary controls. In real life applications often not every boundary value can be observed. In this work, we…

The paper provides results for the stabilization of a spatially uniform equilibrium profile for a scalar conservation law that arises in the study of traffic dynamics under variable speed limit control. Two different control problems are…

Recent advances in the reinforcement learning (RL) literature have enabled roboticists to automatically train complex policies in simulated environments. However, due to the poor sample complexity of these methods, solving RL problems using…

We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…

Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical constraints. Together with control Lyapunov function (CLF), it…

This paper presents a novel approach to solve capacitated facility location problems (FLP) that encompass various resource allocation problems. FLPs are a class of NP-hard combinatorial optimization problems, involving optimal placement and…

A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval,…

Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approaches, such as artificial potential fields (APFs), suffer from…

We introduce a novel Lyapunov function for stabilization of linear Vlasov--Fokker--Planck type equations with stiff source term. Contrary to existing results relying on transport properties to obtain stabilization, we present results based…

This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…

Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) safety filters are point-wise and may…

We consider several non-local models for traffic flow, including both microscopic ODE models and macroscopic PDE models. The ODE models describe the movement of individual cars, where each driver adjusts the speed according to the road…

This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointly minimizing travel…