相关论文: Exploring Attack Resilience in Distributed Platoon…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
Distributed model predictive control (MPC) is currently being investigated as a solution to the important control challenge presented by networks of hybrid dynamical systems. However, a benchmark problem for distributed hybrid MPC is absent…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…
Sequential and terminal constraint feasibility of the model predictive control (MPC) play important roles in ensuring MPC control continuity. This study thus investigates these two properties theoretically using an MPC model for vehicle…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
Vehicle-to-vehicle communication enables autonomous platoons to boost traffic efficiency and safety, while ensuring string stability with a constant spacing policy. However, communication-based controllers are susceptible to a range of…
With the growing share of renewable energy sources, the uncertainty in power supply is increasing. In addition to the inherent fluctuations in the renewables, this is due to the threat of deliberate malicious attacks, which may become more…
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…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
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…
This paper proposes a vehicular platoon control approach under Denial-of-Service (DoS) attacks and external disturbances. DoS attacks increase the service time on the communication network and cause additional transmission delays, which…
In a platoon, multiple autonomous vehicles engage in data exchange to navigate toward their intended destination. Within this network, a designated leader shares its status information with followers based on a predefined communication…
In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…
Rapid urbanization calls for smart traffic management solutions that incorporate sensors, distributed traffic controllers and V2X communication technologies to provide fine-grained traffic control to mitigate congestion. As in many other…
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…
By sharing local sensor information via Vehicle-to-Vehicle (V2V) wireless communication networks, Cooperative Adaptive Cruise Control (CACC) is a technology that enables Connected and Automated Vehicles (CAVs) to drive autonomously on the…