相关论文: L-Platooning: A Protocol for Managing a Long Plato…
In a self-driving environment, vehicles communicate with each other to create a closely spaced multiple vehicle strings on a highway, i.e., high-density vehicle platooning (HDVP). In this paper, we address the Cellular Vehicle to Everything…
With the development of internet of vehicles, platooning strategy has been widely studied as the potential approach to ensure the safety of autonomous driving. Vehicles in the form of platoon adopt 802.11p to exchange messages through…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
Cyclops, introduced in this paper, is an open research platform for everyone that wants to validate novel ideas and approaches in the area of self-driving heavy-duty vehicle platooning. The platform consists of multiple 1/14 scale…
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…
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…
The objective of this paper is to present a novel intelligent train control system for virtual coupling in railroads based on a Learning Model Predictive Control (LMPC). Virtual coupling is an emerging railroad technology that reduces the…
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…
In ride-pooling, a fleet of vehicles is dynamically dispatched to bring travelers from A to B, trying to pool riders with similar itineraries to improve the use of resources compared to taxis or private cars. Ride-pooling is considered a…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Platooning technology is renowned for its precise vehicle control, traffic flow optimization, and energy efficiency enhancement. However, in large-scale mixed platoons, vehicle heterogeneity and unpredictable traffic conditions lead to…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
Deep Reinforcement Learning (DRL) is regarded as a potential method for car-following control and has been mostly studied to support a single following vehicle. However, it is more challenging to learn a stable and efficient car-following…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. Vehicle platooning systems such as Cooperative Adaptive…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
In the context of 5G platoon communications, the Platoon Leader Vehicle (PLV) employs groupcasting to transmit control messages to Platoon Member Vehicles (PMVs). Due to the restricted transmission power for groupcasting, it may need to…
Autonomous vehicles can combine their own data with that of other vehicles to enhance their perceptive ability, and thus improve detection accuracy and driving safety. Data sharing among autonomous vehicles, however, is a challenging…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…