相关论文: Hierarchical-distributed optimized coordination of…

The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…

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)…

The turning movement count data is crucial for traffic signal design, intersection geometry planning, traffic flow, and congestion analysis. This work proposes three methods called dynamic, static, and hybrid configuration for TMC-based…

Traffic safety at intersections is studied quantitatively using methods from Statistical Mechanics on the basis of simple microscopic traffic flow models. In order to determine a relationship between traffic flow and the number of crashes,…

In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…

In this work, we propose a distributed hierarchical locomotion control strategy for whole-body cooperation and demonstrate the potential for migration into large numbers of agents. Our method utilizes a hierarchical structure to break down…

Summary: Traffic light coordination is a complex problem. In this paper, we extend previous work on an abstract model of city traffic to allow for multiple street intersections. We test a self-organizing method in our model, showing that it…

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…

Traffic control management at intersections, a challenging and complex field of study, aims to attain a balance between safety and efficient traffic control. Nowadays, traffic control at intersections is typically done by traffic light…

We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot…

Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to significantly improve traffic flow efficiency in complex urban road networks. However, in situations where vehicle volumes increase to the point…

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…

With rapid population growth and urban development, traffic congestion has become an inescapable issue, especially in large cities. Many congestion reduction strategies have been proposed in the past, ranging from roadway extension to…

This contribution introduces a centralized input constrained optimal control framework based on multiple control barrier functions (CBFs) to coordinate connected and automated agents at intersections. For collision avoidance, we propose a…

We study various versions of the problem of scheduling platoons of autonomous vehicles through an unregulated intersection, where an algorithm must schedule which platoons should wait so that others can go through, so as to minimize the…

We construct a stochastic cellular automata model for the description of vehicular traffic at a roundabout designed at the intersection of two perpendicular streets. The vehicular traffic is controlled by a self-organized scheme in which…

Road user behavior prediction is one of the most critical components in trajectory planning for autonomous driving, especially in urban scenarios involving traffic signals. In this paper, a hierarchical framework is proposed to predict…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Earlier work has established a decentralized framework to optimally control Connected Automated Vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling while following a strict First-In-First-Out (FIFO)…

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the…