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Cooperative Intelligent Transportation Systems (C-ITS) will change the modes of road safety and traffic management, especially at intersections without traffic lights, namely unsignalized intersections. Existing researches focus on vehicle…

Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge…

In this paper, we address a coordination problem for connected and autonomous vehicles (CAVs) in mixed traffic settings with human-driven vehicles (HDVs). The main objective is to have a safe and optimal crossing order for vehicles…

The rapid evolution of urban air mobility (UAM) is reshaping the future of transportation by integrating aerial vehicles into urban transit systems. The design of aerial intersections plays a critical role in the phased development of UAM…

Recent advancements in connected autonomous vehicle (CAV) technology have sparked growing research interest in lane-free traffic (LFT). LFT envisions a scenario where all vehicles are CAVs, coordinating their movements without lanes to…

The advent of intelligent vehicles that can communicate with infrastructure as well as automate the movement provides a range of new options to address key urban traffic issues such as congestion and pollution, without the need for…

Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…

Highway merging scenarios featuring mixed traffic conditions pose significant modeling and control challenges for connected and automated vehicles (CAVs) interacting with incoming on-ramp human-driven vehicles (HDVs). In this paper, we…

Road congestion in urban environments, especially near signalized intersections, has been a major cause of significant fuel and time waste. Various solutions have been proposed to solve the problem of increasing idling times and number of…

Being one of the most promising applications enabled by connected and automated vehicles (CAV) technology, Cooperative Adaptive Cruise Control (CACC) is expected to be deployed in the near term on public roads.} Thus far, the majority of…

This paper proposes a coordinated routing approach that investigates the use of connected and automated vehicles (CAVs) in dedicated bus lanes. The aim is to improve bus schedule adherence while enhancing the travel efficiency of CAVs…

We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy…

In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…

In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem.…

In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…

In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and…

We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time…

This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a quadratic program (CLF-CBF-QP) which admits short calculation…

Connected Automated Vehicles (CAVs) offer unparalleled opportunities to revolutionize existing transportation systems. In the near future, CAVs and human-driven vehicles (HDVs) are expected to coexist, forming a mixed traffic system.…

The integration of automated vehicles (AVs) into transportation systems presents an unprecedented opportunity to enhance road safety and efficiency. However, understanding the interactions between AVs and human-driven vehicles (HVs) at…