相关论文: Linear programming based evacuation models for a c…

In this paper, we propose a model predictive control (MPC) method for real-time intervention of spreading processes, such as epidemics and wildfire, over large-scale networks. The goal is to allocate budgeted resources each time step to…

Distributed energy resources (DERs) such as grid-responsive loads and batteries can be harnessed to provide ramping and regulation services across the grid. This paper concerns the problem of optimal allocation of different classes of DERs,…

Traffic flow forecasting aims to predict future traffic flows based on the historical traffic conditions and the road network. It is an important problem in intelligent transportation systems, with a plethora of methods been proposed.…

This thesis explores the benefits machine learning algorithms can bring to online planning and scheduling for autonomous vehicles in off-road situations. Mainly, we focus on typical problems of interest which include computing itineraries…

We consider the ramp metering problem for a freeway stretch modeled by the Cell Transmission Model. Assuming perfect model knowledge and perfect traffic demand prediction, the ramp metering problem can be cast as a finite horizon optimal…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

We design an model predictive control (MPC) approach for planning and control of non-holonomic mobile robots. Linearizing the system dynamics around the pre-computed reference trajectory gives a time-varying LQ MPC problem. We analytically…

A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches…

This work develops a methodology for studying the effect of an offload zone on the ambulance ramping problem using a multi-server, multi-class non-preemptive priority queueing model that can be treated analytically. A prototype model for…

We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…

This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…

In this paper, we consider a dynamic equilibrium transportation problem. There is a fixed number of cars moving from origin to destination areas. Preferences for arrival times are expressed as a cost of arriving before or after the…

Evaluating the effectiveness and benefits of driver assistance systems is crucial for improving the system performance. In this paper, we propose a novel framework for testing and evaluating lane departure correction systems at a low cost…

Cooperative UAV networks are becoming increasingly popular in military and civilian applications. Alas, the typical ad-hoc routing protocols, which aim at finding the shortest path, lead to significant performance degradation because of the…

Combinatorial distribution system optimization problems, such as scheduling electric vehicle (EV) charging during evacuations, present significant computational challenges. These challenges stem from the large numbers of constraints,…

In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…

This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…

Unmanned Aerial Vehicle (UAV) path planning algorithms often assume a knowledge reward function or priority map, indicating the most important areas to visit. In this paper we propose a method to create priority maps for monitoring or…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…