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Most autonomous-vehicles (AVs) driving strategies are designed and analyzed at the vehicle level, yet their aggregate impact on macroscopic traffic flow is still not understood, particularly the flow heterogeneity that emerges when AVs…

Angle-constrained formation control has attracted much attention from control community due to the advantage that inter-edge angles are invariant under uniform translations, rotations, and scalings of the whole formation. However, almost…

Single-lane car-following is a fundamental task in autonomous driving. A desirable car-following controller should keep a reasonable range of distances to the preceding vehicle and do so as smoothly as possible. To achieve this, numerous…

Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a gap and safely merge…

This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…

We develop a control design for stabilization of traffic flow in congested regime, based on an Aw-Rascle-Zhang-type (ARZ-type) Partial Differential Equation (PDE) model, for traffic consisting of both ACC-equipped (Adaptive Cruise…

The essential distinction between the Fundamental Diagram Approach (FDA) and Kerner's Three- Phase Theory (KTPT) is the existence of a unique gap-speed (or flow-density) relationship in the former class. In order to verify this…

Traffic congestion in dense urban centers presents an economical and environmental burden. In recent years, the availability of vehicle-to-anything communication allows for the transmission of detailed vehicle states to the infrastructure…

Moving bottlenecks, such as slow-driving vehicles, are commonly thought of as impediments to efficient traffic flow. Here, we demonstrate that in certain situations, moving bottlenecks---properly controlled---can actually be beneficial for…

This paper addresses the problem of a boundary control design for traffic evolving in a large-scale urban network. The traffic state is described on a macroscopic scale and corresponds to the vehicle density, whose dynamics are governed by…

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…

This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…

Accurate modeling of lower-level controller plays an important role in the traffic flow of automated vehicles (AVs). However, there lacks enough attention with this respect. To address this issue, we conduct a field experiment with two…

Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have…

Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…

We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be…

This paper provides an observer-based event-triggered boundary control strategy for the one-phase Stefan problem using the position and velocity measurements of the moving interface. The infinite-dimensional backstepping approach is used to…

Collision avoidance is one of the most challenging tasks people need to consider for developing the self-driving technology. In this paper we propose a new spatiotemporal motion planning algorithm that efficiently solves a constrained…

In this paper, we introduce a new conservation-based approach to model traffic dynamics, and apply the model predictive control (MPC) approach to control the boundary traffic inflow and outflow, so that the traffic congestion is reduced. We…

The erratic nature of human driving tends to trigger undesired waves that amplify as successive driver reactions propagate from the errant vehicle to vehicles upstream. Known as phantom jams, this phenomenon has been identified in the…