相关论文: Improving safety in mixed traffic: A learning-base…

Vehicles in developing countries have widely varying dimensions and speeds, and drivers tend to not follow lane discipline. In this flow state called "mixed traffic", the interactions between drivers and the resulting maneuvers resemble…

Managing mixed traffic comprising human-driven and robot vehicles (RVs) across large-scale networks presents unique challenges beyond single-intersection control. This paper proposes a reinforcement learning framework for coordinating mixed…

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…

Model predictive control (MPC) is widely used for path tracking of autonomous vehicles due to its ability to handle various types of constraints. However, a considerable predictive error exists because of the error of mathematics model or…

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…

Data-driven predictive control of connected and automated vehicles (CAVs) has received increasing attention as it can achieve safe and optimal control without relying on explicit dynamical models. However, employing the data-driven strategy…

This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…

Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…

Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…

The management of mixed traffic that consists of robot vehicles (RVs) and human-driven vehicles (HVs) at complex intersections presents a multifaceted challenge. Traditional signal controls often struggle to adapt to dynamic traffic…

Coordinated traffic signals seek to provide uninterrupted flow through a series of closely spaced intersections, typically using pre-defined fixed signal timings and offsets. Adaptive traffic signals dynamically change signal timings based…

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…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Modular autonomous vehicles (MAVs) represent a groundbreaking concept that integrates modularity into the ongoing development of autonomous vehicles. This innovative design introduces unique features to traffic flow, allowing multiple…

The emergence of connected and automated vehicles (CAVs) promises smoother traffic flow. In mixed traffic where human-driven vehicles (HDVs) also exist, existing research mostly focuses on "looking ahead" (i.e., the CAVs receive information…

Model Predictive Control (MPC) has been widely applied to the motion planning of autonomous vehicles. An MPC-controlled vehicle is required to predict its own trajectories in a finite prediction horizon according to its model. Beyond this,…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…