Related papers: A Scaled Three-Vehicle Platooning Platform
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Vehicle platooning enables close-gap driving and offers potential benefits for traffic efficiency and safety. In conditionally automated platooning, drivers remain responsible for supervising the system and intervening when necessary,…
In part II, we present a fully distributed nonlinear variable time headway space strategy to ensure the subsequent safe cruising and junction crossing, where the cooperative perception of multiple neighbors stimuli and the cooperative…
The advancement of cooperative autonomous vehicle systems depends heavily on effective coordination between multiple agents, aiming to enhance traffic efficiency, fuel economy, and road safety. Despite these potential benefits, real-world…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
As autonomous vehicles enter public spaces, external human-machine interfaces are proposed to support communication with external road users. A decade of research has produced hundreds of studies and reviews, yet it remains unclear whether…
Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…
As autonomous vehicles (AVs) become more common on public roads, their interaction with human-driven vehicles (HVs) in mixed traffic is inevitable. This requires new control strategies for AVs to handle the unpredictable nature of HVs. This…
With the raising demand for autonomous driving, vehicle-to-vehicle communications becomes a key technology enabler for the future intelligent transportation system. Based on our current knowledge field, there is limited network simulator…
Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles…
Modeling heterogeneous and multi-lane traffic flow is essential for understanding and controlling complex transportation systems. In this work, we consider three vehicle populations: two classes of human-driven vehicles (cars and trucks)…
Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…
The emerging technology enabling autonomy in vehicles has led to a variety of new problems in transportation networks, such as planning and perception for autonomous vehicles. Other works consider social objectives such as decreasing fuel…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Platooning of heavy-duty vehicles (HDVs) is a key component of smart and connected highways and is expected to bring remarkable fuel savings and emission reduction. In this paper, we study the coordination of HDV platooning on a highway…
The spread of autonomous systems into safety-critical areas has increased the demand for their formal verification, not only due to stronger certification requirements but also to public uncertainty over these new technologies. However, the…