相关论文: Distributed Observer Design for Tracking Platoon o…

In this paper, a novel proximity and load-aware resource allocation for vehicle-to-vehicle (V2V) communication is proposed. The proposed approach exploits the spatio-temporal traffic patterns, in terms of load and vehicles' physical…

We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…

The emergence of Connected and Automated Vehicles (CAVs) promises better traffic mobility for future transportation systems. Existing research mostly focused on fully-autonomous scenarios, while the potential of CAV control at a mixed…

State estimation for a class of linear time-invariant systems with distributed output measurements (distributed sensors) and unknown inputs is addressed in this paper. The objective is to design a network of observers such that the state…

Unknown inputs related to, e.g., sensor aging, modeling errors, or device bias, represent a major concern in wireless sensor networks, as they degrade the state estimation performance. To improve the performance, unknown-input observers…

In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…

Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…

This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…

This study introduces a dynamic bus lane (DBL) strategy, referred to as the dynamic bus priority lane (DBPL) strategy, designed for mixed traffic environments featuring both manual and automated vehicles. Unlike previous DBL strategies,…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…

The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…

Trajectory planning and coordination for connected and automated vehicles (CAVs) have been studied at isolated ``signal-free'' intersections and in ``signal-free'' corridors under the fully CAV environment in the literature. Most of the…

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…

In this study, we propose a rotation-based connected automated vehicle (CAV) distributed cooperative control strategy for an on-ramp merging scenario. By assuming the mainline and ramp line are straight, we firstly design a virtual rotation…

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…

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…

The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…

Given the increasing popularity and demand for connected and autonomous vehicles (CAVs), Eco-driving and platooning in highways and urban areas to increase the efficiency of the traffic system is becoming a possibility. This paper presents…

This paper presents a Digital Twin (DT) framework for the remote control of an Autonomous Guided Vehicle (AGV) within a Network Control System (NCS). The AGV is monitored and controlled using Integrated Sensing and Communications (ISAC). In…