相关论文: Followerstopper Revisited: Phase-space Lagrangian …
In this contribution, we introduce a general class of car-following models with an input-state-output port-Hamiltonian structure. We derive stability conditions and long-term behavior of the finite system with periodic boundaries and…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Traffic waves are phenomena that emerge when the vehicular density exceeds a critical threshold. Considering the presence of increasingly automated vehicles in the traffic stream, a number of research activities have focused on the…
We develop reinforcement learning (RL) boundary controllers to mitigate stop-and-go traffic congestion on a freeway segment. The traffic dynamics of the freeway segment are governed by a macroscopic Aw-Rascle-Zhang (ARZ) model, consisting…
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization…
A rather simple car driving simulator was created based on the available open source engine TORCS and used to analyze the basic features of human behavior in car driving within the car-following setups. Eight subjects with different skill…
This paper proposes a traffic control scheme to alleviate traffic congestion in a network of interconnected signaled lanes/roads. The proposed scheme is emergency vehicle-centered, meaning that it provides an efficient and timely routing…
Recent work has shown that the introduction of autonomous vehicles (AVs) in traffic could help reduce traffic jams. Deep reinforcement learning methods demonstrate good performance in complex control problems, including autonomous vehicle…
Wirelessly connected vehicles that exchange information about traffic conditions can reduce delays caused by congestion. At a 2-to-1 lane reduction, the improvement in flow past a bottleneck due to traffic with a random mixture of 40%…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
Driver fatigue is one of the important factors that cause traffic accidents, and the ever-increasing number due to diminished drivers vigilance level has become a problem of serious concern to society. Drivers with a diminished vigilance…
We present large scale and detailed analysis of the microscopic empirical data of the traffic flow, focusing on the non-linear interactions between the vehicles when the traffic is congested. By implementing a "renormalisation" procedure…
Automated Vehicle Path Following Control (PFC) is an advanced control system that can regulate the vehicle into a collision-free region in the presence of other objects on the road. Common collision avoidance functions, such as forward…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
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…
Despite the availability of large empirical data sets and the long history of traffic modeling, the theory of traffic congestion on freeways is still highly controversial. In this contribution, we compare Kerner's three-phase traffic theory…
The leader-follower formation control analysis for multiple quad-rotor systems is investigated in this paper. To achieve predefined formation in the three-dimensional air space ($x,y$ and $z$), a novel local tracking control law and a…
This paper develops output feedback boundary control to mitigate traffic congestion of a unidirectional two-lane freeway segment. The macroscopic traffic dynamics are described by the Aw-Rascle-Zhang (ARZ) model respectively for both the…