Related papers: A Scaled Three-Vehicle Platooning Platform
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…
Cooperative driving (or Platooning) focuses on improving the safety and efficiency by connecting two or more vehicles on a road by vehicular communication protocols. The leader is crucial as it manages the platoon, establishes communication…
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address…
In this paper, a unified multi-vehicle formation control framework for Intelligent and Connected Vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one-dimensional scenario, different formation geometries are…
We have carried out car-following experiments with a 25-car-platoon on an open road section to study the relation between a car's speed and its spacing under various traffic conditions, in the hope to resolve a controversy surrounding this…
A platoon-based driving is a technology allowing vehicles to follow each other at close distances to, e.g., save fuel. However, it requires reliable wireless communications to adjust their speeds. Recent studies have shown that the…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
In this paper, we study how to secure the platooning of autonomous vehicles when an unknown vehicle is under attack and bounded system uncertainties exist. For the attacked vehicle, its position and speed measurements from GPS can be…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging modeling problems. An off-road vehicle encounters highly…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
This paper considers coordination of platoons of connected and autonomous vehicles (CAVs) at mixed-autonomy bottlenecks in the face of three practically important factors, viz. time-varying traffic demand, random CAV platoon sizes, and…
Platoons, vehicles that travel very close together acting as one, promise to improve road usage on freeways and city roads alike. We study platoon formation in the context of same-day delivery in urban environments. Multiple self-interested…
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…