相关论文: Distributed Observer Design for Tracking Platoon o…
Under a changing driving environment, a Connected Autonomous Vehicle (CAV) platoon relies strongly on the acquisition of accurate traffic information from neighboring vehicles as well as reliable commands from a centralized supervisory…
Consider a linear time-invariant (LTI) dynamical system monitored by a network of sensors, modeled as nodes of an underlying directed communication graph. We study the problem of collaboratively estimating the state of the system when…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges…
This paper presents a unified modeling, control, and estimation framework for the quadruple-tank process, a benchmark multivariable system that exhibits either minimum phase or nonminimum phase behavior depending on valve flow ratios. A…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better operating decisions to improve safety and reduce pollution, energy…
This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…
This work addresses the problem of autonomous traffic management at an isolated intersection for connected and automated vehicles. We decompose the trajectory of each vehicle into two phases: the provisional phase and the coordinated phase.…
Distributed learning and inference algorithms have become indispensable for IoT systems, offering benefits such as workload alleviation, data privacy preservation, and reduced latency. This paper introduces an innovative approach that…
This paper presents a "cooperative vehicle sorting" strategy that seeks to optimally sort connected and automated vehicles (CAVs) in a multi-lane platoon to reach an ideally organized platoon. In the proposed method, a CAV platoon is…
The security of Automated Vehicles (AVs) is an important emerging area of research in traffic safety. Methods have been published and evaluated in experimental vehicles to secure safe AV control in the presence of attacks, but human motion…
The safety of urban transportation systems is considered a public health issue worldwide, and many researchers have contributed to improving it. Connected automated vehicles (CAVs) and cooperative intelligent transportation systems (C-ITSs)…
This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…
In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis.…
Platooning of connected and autonomous vehicles (CAVs) plays a vital role in modernizing highways, ushering in enhanced efficiency and safety. This paper explores the significance of platooning in smart highways, employing a coupled partial…