相关论文: Followerstopper Revisited: Phase-space Lagrangian …
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…
We present a phase diagram of the different kinds of congested traffic that are triggered by disturbances when passing ramps or other spatial inhomogeneities of a freeway. The simulation results obtained by the nonlocal, gas-kinetic-based…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
In this paper, we develop a mechanical system inspired microscopic traffic model to characterize the longitudinal interaction dynamics among a chain of vehicles. In particular, we extend our prior work on mass-spring-damper-clutch based…
This contribution investigates an original stochastic approach for the emergence of stop-and-go waves in traffic flow, a collective phenomenon with significant safety and environmental implications. Using a stable nonlinear car-following…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
Air traffic control is becoming a more and more complex task due to the increasing number of aircraft. Current air traffic control methods are not suitable for managing this increased traffic. Autonomous air traffic control is deemed a…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Traffic congestion in urban areas is a significant problem, leading to prolonged travel times, reduced efficiency, and increased environmental concerns. Effective traffic signal control (TSC) is a key strategy for reducing congestion.…
Based on simulations with the ``intelligent driver model'', a microscopic traffic model, we explain the recently discovered transition from free over ``synchronized'' traffic to stop-and-go patterns [B. S. Kerner, Phys. Rev. Lett. 81, 3797…
Adaptive-Cruise Control (ACC) automatically accelerates or decelerates a vehicle to maintain a selected time gap, to reach a desired velocity, or to prevent a rear-end collision. To this end, the ACC sensors detect and track the vehicle…
Most car-following models show a transition from laminar to ``congested'' flow and vice versa. Deterministic models often have a density range where a disturbance needs a sufficiently large critical amplitude to move the flow from the…
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe,…
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
We propose and analyse a new microscopic second order Follow-the-Leader type scheme to describe traffic flows. The main novelty of this model consists in multiplying the second order term by a nonlinear function of the global density, with…
The emergence of autonomous vehicles is expected to revolutionize road transportation in the near future. Although large-scale numerical simulations and small-scale experiments have shown promising results, a comprehensive theoretical…