相关论文: Fully Distributed Optimization based CAV Platoonin…
This paper develops column partition based distributed schemes for a class of large-scale convex sparse optimization problems, e.g., basis pursuit (BP), LASSO, basis pursuit denosing (BPDN), and their extensions, e.g., fused LASSO. We are…
In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…
In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However,…
The coordination of highly automated vehicles (or agents) in road intersections is an inherently nonconvex and challenging problem. In this paper, we propose a distributed motion planning scheme under reasonable vehicle-to-vehicle…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…
Connected Automated Vehicles (CAVs) bring promise of increasing traffic capacity and energy efficiency by forming platoons with short headways on the road. However at low CAV penetration, the capacity gain will be small because the CAVs…
Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world transportation system includes a vast number of trucks…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
We discuss the distributed matching scheme in accelerators where control of transverse beam phase space, oscillation, and transport is accomplished by flexible distribution of focusing elements beyond dedicated matching sections. Besides…
Platooning is a way to significantly reduce fuel consumption of trucks. Vehicles that drive at close inter-vehicle distance assisted by automatic controllers experience substantially lower air-drag. In this paper, we deal with the problem…
In this paper, we consider the optimal coordination of automated vehicles at intersections under fixed crossing orders. We formulate the problem using direct optimal control and exploit the structure to construct a semi-distributed…
A distributed control of vehicle platooning is referred to as distributed consensus (DC) since many autonomous vehicles (AVs) reach a consensus to move as one body with the same velocity and inter-distance. For DC control to be stable,…
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…
Cooperative adaptive cruise control presents an opportunity to improve road transportation through increase in road capacity and reduction in energy use and accidents. Clever design of control algorithms and communication systems is…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…