相关论文: Over-the-Air Consensus for Distributed Vehicle Pla…

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…

Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…

Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…

As autonomous vehicles (AVs) become more common on public roads, their interaction with human-driven vehicles (HVs) in mixed traffic is inevitable. This requires new control strategies for AVs to handle the unpredictable nature of HVs. This…

Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…

Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

Cooperative platooning, enabled by cooperative adaptive cruise control (CACC), is a cornerstone technology for connected automated vehicles (CAVs), offering significant improvements in safety, comfort, and traffic efficiency over…

Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Dense low-altitude aerial operations require more than pre-flight route coordination and last-resort collision avoidance. Once aircraft are airborne, disturbances can emerge on timescales shorter than strategic reauthorization can absorb,…

This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…

Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…

CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…

Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…

When networked systems of autonomous agents carry out complex tasks, the control and coordination sought after generally depend on a few fundamental control primitives. Chief among these primitives is consensus, where agents are to converge…

In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…

Due to the advantages of flexible deployment and extensive coverage, unmanned aerial vehicles (UAVs) have great potential for sensing applications in the next generation of cellular networks, which will give rise to a cellular Internet of…

Accurate tracking of underwater acoustic sources is critical for a variety of marine applications, yet remains a challenging task due to communication constraints and environmental uncertainties. In this regard, this paper addresses the…

Reliable wireless communication between the autonomously driving cars is one of the fundamental needs for guaranteeing passenger safety and comfort. However, when the number of communicating cars increases, the transmission quality may be…