相关论文: Autonomous Vehicle Convoy Control as a Differentia…

This paper introduces a consensus-based generalized multi-population aggregative game coordination approach with application to electric vehicles charging under transmission line constraints. The algorithm enables agents to seek an…

Nash equilibrium is a central concept in game theory. Several Nash solvers exist, yet none scale to normal-form games with many actions and many players, especially those with payoff tensors too big to be stored in memory. In this work, we…

Route controlled autonomous vehicles could have a significant impact in reducing congestion in the future. Before applying multi-agent reinforcement learning algorithms to route control, we can model the system using a congestion game to…

The integration of Autonomous Vehicles (AVs) into existing human-driven traffic systems poses considerable challenges, especially within environments where human and machine interactions are frequent and complex, such as at unsignalized…

Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societal impact. Self-driving vehicles (SDVs) are expected…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…

Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…

With the advent of autonomous driving technologies, traffic control at intersections is expected to experience revolutionary changes. Various novel intersection control methods have been proposed in the existing literature, and they can be…

This paper investigates distributed computing and cooperative control of connected and automated vehicles (CAVs) in ramp merging scenario under transportation cyber-physical system. Firstly, a centralized cooperative trajectory planning…

This paper presents a hybrid adaptive Nash equilibrium solver for distributed multi-agent systems incorporating game-theoretic jump triggering mechanisms. The approach addresses fundamental scalability and computational challenges in…

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…

Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…

Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to prevent such negative events, it is vital that an autonomous…

We propose a learning-based, distributionally robust model predictive control approach towards the design of adaptive cruise control (ACC) systems. We model the preceding vehicle as an autonomous stochastic system, using a hybrid model with…

We propose a reliable intersection control mechanism for strategic autonomous and connected vehicles (agents) in non-cooperative environments. Each agent has access to his/her earliest possible and desired passing times, and reports a…

Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…

We formulate a new class of two-person zero-sum differential games, in a stochastic setting, where a specification on a target terminal state distribution is imposed on the players. We address such added specification by introducing…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…