相关论文: L-Platooning: A Protocol for Managing a Long Plato…

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…

The paper tailors the so-called wave-based control popular in the field of flexible mechanical structures to the field of distributed control of vehicular platoons. The proposed solution augments the symmetric bidirectional control…

Vehicle to vehicle communication is a new technology that enables vehicles on roads to communicate with each other to reduce traffic, accidents and ensure the safety of people. The main objective of vehicle-to-vehicle communication protocol…

Ride-sharing or vehicle-pooling allows commuters to team up spontaneously for transportation cost sharing. This has become a popular trend in the emerging paradigm of sharing economy. One crucial component to support effective ride-sharing…

We consider a hub-based platoon coordination problem in which vehicles arrive at a hub according to an independent and identically distributed stochastic arrival process. The vehicles wait at the hub, and a platoon coordinator, at each…

Vehicles in platoons need to process many tasks to support various real-time vehicular applications. When a task arrives at a vehicle, the vehicle may not process the task due to its limited computation resource. In this case, it usually…

This paper provides a unified framework for the problem of controlling a fleet of ride-hailing vehicles under stochastic demand. We introduce a sequential decision-making model that consolidates several problem characteristics and can be…

Platooning of connected and autonomous vehicles (CAVs) plays a vital role in modernizing highways, ushering in enhanced efficiency and safety. This paper explores the significance of platooning in smart highways, employing a coupled partial…

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…

In this paper, we study the optimal control of a mixed-autonomy platoon driving on a single lane to smooth traffic flow. The platoon consists of autonomous vehicles, whose acceleration is controlled, and human-driven vehicles, whose…

The rising presence of autonomous vehicles (AVs) on public roads necessitates the development of advanced control strategies that account for the unpredictable nature of human-driven vehicles (HVs). This study introduces a learning-based…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

This paper studies a multi-fleet platoon coordination system in transport networks that deploy hubs to form trucks into platoons. The trucks belong to different fleets that are interested in increasing their profits by platooning across…

This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…

Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…

Freight transportation is of outmost importance for our society and is continuously increasing. At the same time, transporting goods on roads accounts for about 26% of all energy consumption and 18% of all greenhouse gas emissions in the…

We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…

Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure…

On-Demand Ride-Pooling services have the potential to increase traffic efficiency compared to private vehicle trips by decreasing parking space needed and increasing vehicle occupancy due to higher vehicle utilization and shared trips,…

In this paper, we investigate cooperative platoon formation and benefit allocation in mixed-energy truck fleets composed of both electric and fuel-powered trucks. The central challenge arises from the platoon-size constraint, which limits…