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Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal…
The steady development of motor vehicle technology will enable cars of the near future to assume an ever increasing role in the decision making and control of the vehicle itself. In the foreseeable future, cars will have the ability to…
Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…
In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any…
This paper presents a safe model predictive control (SMPC) framework designed to ensure the satisfaction of hard constraints for systems perturbed by an external disturbance. Such safety guarantees are ensured, despite the disturbance, by…
The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure,…
Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…
Model Predictive Control (MPC) is a common tool for the control of nonlinear, real-world systems, such as legged robots. However, solving MPC quickly enough to enable its use in real-time is often challenging. One common solution is given…
As quantum technology advances, the efficient design of quantum circuits has become an important area of research. This paper provides an introduction to the MCT quantum circuit design problem for reversible Boolean functions with the…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Since the end of the 1980's, the development of self-driven autonomous vehicles is an intensive research area in most major industrial countries. Positive socio-economic potential impacts include a decrease of crashes, a reduction of travel…
Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…
Synthesizing optimal controllers for dynamical systems often involves solving optimization problems with hard real-time constraints. These constraints determine the class of numerical methods that can be applied: computationally expensive…
In this paper we consider the problem of coordinating autonomous vehicles approaching an intersection. We cast the problem in the distributed optimisation framework and propose an algorithm to solve it in real time. We extend previous work…
A path-planning algorithm for connected and non-connected automated road vehicles on multilane motorways is derived from the opportune formulation of an optimal control problem. In this framework, the objective function to be minimized…
This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…