相关论文: Hub-Based Platoon Formation: Optimal Release Polic…
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…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
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…
This paper develops distributed optimization based, platoon centered CAV car following schemes, motivated by the recent interest in CAV platooning technologies. Various distributed optimization or control schemes have been developed for CAV…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
In this paper, we propose an optimization framework for cooperative merging of platoons of connected and automated vehicles at highway on-ramps. The framework includes (1) an optimal scheduling algorithm, through which, each platoon derives…
In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…
We consider the platoon matching problem for a set of trucks with the same origin, but different destinations. It is assumed that the vehicles benefit from traveling in a platoon for instance through reduced fuel consumption. The vehicles…
The problem of how to coordinate a large fleet of trucks with given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies…
We consider the fuel-optimal coordination of trucks into platoons. Truck platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close together and thus reducing air drag. We study how…
Human-leading truck platooning systems have been proposed to leverage the benefits of both human supervision and vehicle autonomy. Equipped with human guidance and autonomous technology, human-leading truck platooning systems are more…
Profit-sharing is needed within platoons in order for competing transportation companies to collaborate in forming platoons. In this paper, we propose distribution models of the profit designed for vehicles that are located at the same…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow,…
Ride-sharing or vehicle-pooling allows commuters to team up spontaneously for transportation cost sharing. This has become a popular trend in the emerging paradigm of sharing economy. One crucial component to support effective ride-sharing…
To enhance the ability for vehicle platoons to respond to emergency scenarios, a platoon distribution reorganization decision-making framework is proposed. This framework contains platoon distribution layer, vehicle cooperative…
Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation need to be studied further, especially at…