相关论文: Enhancing Vehicle Platooning Safety via Control No…
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…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
The increasing variety of means of transportation, including light vehicles like e-scooters and e-bikes, together with the increasing weight of conventional vehicles due to electrification and consumer preferences for SUVs, are raising…
Connected vehicles, facilitated by Vehicle-to-Vehicle (V2V) communications, play a key role in enhancing road safety and traffic efficiency. However, V2V communications primarily rely on wireless protocols, such as Wi-Fi, that require…
Recent developments in the smart mobility domain have transformed automobiles into networked transportation agents helping realize new age, large-scale intelligent transportation systems (ITS). The motivation behind such networked…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
This paper studies the vehicle platooning system based on vehicle-to-infrastructure (V2I) communication, where all the vehicles in the platoon upload their driving state information to the roadside unit (RSU), and RSU makes the platoon…
Platooning of connected and autonomous vehicles (CAVs) is an emerging technology with a strong potential for throughput improvement and fuel reduction. Adequate macroscopic models are critical for system-level efficiency and reliability of…
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…
Vehicular platooning refers to coordinated and close movement of vehicular users (VUs) traveling together along a common route segment, offering strategic benefits such as reduced fuel costs, lower emissions, and improved traffic flow.…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…
This paper aims to enhance the performance of Vehicular Platooning (VP) systems integrated with Wireless Federated Learning (WFL). In highly dynamic environments, vehicular platoons experience frequent communication changes and resource…
We derive optimal control policies for a Connected Automated Vehicle (CAV) and cooperating neighboring CAVs to carry out a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
The coordination of multiple autonomous agents in high-speed, competitive environments represents a significant engineering challenge. This paper presents CRUISE (Curriculum-Based Iterative Self-Play for Scalable Multi-Drone Racing), a…
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…
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…