相关论文: Approximate Dynamic Programming for Platoon Coordi…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
Vehicle platooning has the potential to significantly improve traffic throughput and reduce fuel consumption and emissions and thus has attracted extensive attention recently. In this study, we propose a hybrid vehicle platoon system for…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle--target pair. The vehicles incur a penalty…
Mobility-on-Demand (MoD) services have been an active research topic in recent years. Many studies focused on developing control algorithms to supply efficient services. To cope with a large search space to solve the underlying vehicle…
Autonomous trucking has progressed rapidly in recent years, transitioning from early demonstrations to OEM-integrated commercial deployments. However, fully driverless freight operations across heterogeneous climates, infrastructure…
A key operational challenge for call centers is to decide, in real time, which waiting customer should be served by which available agent. This is known as skill-based routing, and the decision becomes especially difficult in large systems…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
Autonomy and connectivity are considered among the most promising technologies to improve safety, mobility, fuel and time consumption in transportation systems. Some of the fuel efficiency benefits of connected and automated vehicles (CAVs)…
Electric autonomous mobility-on-demand (EAMoD) systems are emerging all over the world. However, their potential swarm charging in depots may deteriorate operation of the power system, further in turn affecting EAMoD system's optimal…
In this paper we consider a stochastic deployment problem, where a robotic swarm is tasked with the objective of positioning at least one robot at each of a set of pre-assigned targets while meeting a temporal deadline. Travel times and…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Teleoperated or remote-controlled driving complements automated driving and acts as transitional technology toward full automation. An economic advantage of teleoperated driving in logistics operations lies in managing fleets with fewer…
With the rapid development of high-speed railway (HSR), how to provide the passengers with multimedia services has attracted increasing attention. A key issue is to develop an effective scheduling algorithm for multiple services with…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Routing strategies for traffics and vehicles have been historically studied. However, in the absence of considering drivers' preferences, current route planning algorithms are developed under ideal situations where all drivers are expected…
Vehicle platooning is an automated driving technology that enables a group of vehicles to travel very closely together as a single unit to improve fuel efficiency and driver safety and reduces CO2 emission. The significant benefits of…