相关论文: Hierarchical-distributed optimized coordination of…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
High-density, unsignalized intersection has always been a bottleneck of efficiency and safety. The emergence of Connected Autonomous Vehicles (CAVs) results in a mixed traffic condition, further increasing the complexity of the…
In this letter, we consider a transportation network with a 100\% penetration rate of connected and automated vehicles (CAVs) and present an optimal routing approach that takes into account the efficiency achieved in the network by…
Accurate traffic conditions prediction provides a solid foundation for vehicle-environment coordination and traffic control tasks. Because of the complexity of road network data in spatial distribution and the diversity of deep learning…
We consider a mixed autonomy scenario where the traffic intersection controller decides whether the traffic light will be green or red at each lane for multiple traffic-light blocks. The objective of the traffic intersection controller is…
The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…
The proliferation of connected automated vehicles represents an unprecedented opportunity for improving driving efficiency and alleviating traffic congestion. However, existing research fails to address realistic multi-lane highway…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
This study presents a vehicle-level distributed coordination strategy to control a mixed traffic stream of connected automated vehicles (CAVs) and connected human-driven vehicles (CHVs) through signalized intersections. We use CAVs as…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion…
The balanced vehicular traffic model is a macroscopic model for vehicular traffic flow. We use this model to study the traffic dynamics at highway bottlenecks either caused by the restriction of the number of lanes or by on-ramps or…
In the context of Vehicular ad-hoc networks (VANETs), the hierarchical management of intelligent vehicles, based on clustering methods, represents a well-established solution for effectively addressing scalability and reliability issues.…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
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…
In this paper, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, we propose an algorithm that is called the Discrete-time occupancies…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Intersections pose critical challenges in traffic management, where maintaining operational constraints and ensuring safety are essential for efficient flow. This paper investigates the effect of intervention timing in management strategies…