相关论文: Followerstopper Revisited: Phase-space Lagrangian …

Autonomous parallel-style on-ramp merging in human controlled traffic continues to be an existing issue for autonomous vehicle control. Existing non-learning based solutions for vehicle control rely on rules and optimization primarily.…

The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…

This paper presents a rigorous analytical model of traffic dynamics on a circular track, demonstrating the emergence of standing oscillations resulting from microscopic driver behaviour, delay responses, and proximity pressure. Without…

This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…

The current work presents a realizable method to control streaky disturbances in boundary layer flows and delay transition to turbulence via active flow control. Numerical simulations of the nonlinear transitional regime in a Blasius…

Autonomous Braking and Throttle control is key in developing safe driving systems for the future. There exists a need for autonomous vehicles to negotiate a multi-agent environment while ensuring safety and comfort. A Deep Reinforcement…

Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…

We introduce a new conservation-based approach for traffic coordination modeling and control in a network of interconnected roads (NOIR) with switching movement phase rotations at every NOIR junction. For modeling of traffic evolution, we…

We present simulations of congested traffic in circular and open systems with a non-local, gas-kinetic-based traffic model and a novel car-following model. The model parameters are all intuitive and can be easily calibrated. Micro- and…

We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…

The goal of this work is to provide a viable solution based on reinforcement learning for traffic signal control problems. Although the state-of-the-art reinforcement learning approaches have yielded great success in a variety of domains,…

The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…

This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…

This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…

In this paper, a novel closed-loop control framework for autonomous obstacle avoidance on a curve road is presented. The proposed framework provides two main functionalities; (i) collision free trajectory planning using MPC and (ii) a…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…

This paper proposes an improved Intelligent driving model (Sigmoid-IDM) to address the problems of excessive acceleration in traffic oscillation and following failure in free flow. The Sigmoid-IDM uses a Sigmoid function to enhance the…

This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…

In this paper, we consider a one dimensional pursuit law with delay which is derived from traffic flow modelling. It takes the form of an infinite system of first order coupled delayed equations. Each equation describes the motion of a…