相关论文: Adaptive Event-triggered Formation Control of Auto…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
Concerning general multi-agent systems with limited communication, this paper proposes distributed formation control protocols under adaptive event-triggered schemes to operate affine transformations of nominal formations. To accommodate…
In this article, we develop a new adaptive event-triggered asymptotic control scheme for strict-feedback systems with fast time-varying parameters. To deal with time-varying parameters with unknown variation boundaries in the feedback path…
Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is…
In this paper, we propose an adaptive event-triggered reinforcement learning control for continuous-time nonlinear systems, subject to bounded uncertainties, characterized by complex interactions. Specifically, the proposed method is…
Large-scale UAV switching formation tracking control has been widely applied in many fields such as search and rescue, cooperative transportation, and UAV light shows. In order to optimize the control performance and reduce the…
Automated vehicle (AV) platooning has the potential to improve the safety, operational, and energy efficiency of surface transportation systems by limiting or eliminating human involvement in the driving tasks. The theoretical validity of…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
This paper proposes a cyber-resilient secure control framework for autonomous vehicles (AVs) subject to false data injection (FDI) threats as actuator attacks. The framework integrates data-driven modeling, event-triggered communication,…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Optimal cruise control design can increase highway throughput and vehicle safety in traffic flow. In most heterogeneous platoons, the absence of vehicle-to-vehicle (V2V) communication poses challenges in maintaining system stability and…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
Modeling and congestion mitigation of mixed-autonomy traffic systems consisting of human-driven vehicles (HVs) and autonomous vehicles (AVs) have become increasingly critical with the rapid development of autonomous driving technology. This…