相关论文: A Barrier-Certified Optimal Coordination Framework…

The energy efficiency of Connected and Automated Vehicles (CAVs) is significantly influenced by surrounding road users. This paper presents the evaluation of energy efficiency of CAVs in a mixed traffic interacted with human controlled…

This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…

This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…

We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs). We develop a cooperation compliance control framework to…

This paper develops an optimal acceleration/speed profile for a single autonomous vehicle crossing multiple signalized intersections without stopping in free flow mode. The design objective is to produce both time and energy efficient…

Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…

Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…

In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…

To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…

Connected and automated vehicles (CAVs) are viewed as a special kind of robots that have the potential to significantly improve the safety and efficiency of traffic. In contrast to many swarm robotics studies that are demonstrated in labs…

This paper experimentally demonstrates the effectiveness of an anticipative car-following algorithm in reducing energy use of gasoline engine and electric Connected and Automated Vehicles (CAV), without sacrificing safety and traffic flow.…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…

Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…

Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to monitor transportation network conditions and make better decisions for improving safety and transportation efficiency. In this paper, we…

Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…

Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…

Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…