相关论文: Adaptive Control of Heterogeneous Platoons with Gu…
The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world transportation system includes a vast number of trucks…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
Cooperative driving, enabled by communication between automated vehicle systems, promises significant benefits to fuel efficiency, road capacity, and safety over single-vehicle driver assistance systems such as adaptive cruise control…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
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…
In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…
This paper proposes an adaptive human pilot model that is able to mimic the crossover model in the presence of uncertainties. The proposed structure is based on the model reference adaptive control, and the adaptive laws are obtained using…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
A high-gain observer-based cooperative deterministic learning (CDL) control algorithm is proposed in this chapter for a group of identical unicycle-type unmanned ground vehicles (UGVs) to track over desired reference trajectories. For the…
Cooperative adaptive cruise control(CACC) system provides a great promise to significantly reduce traffic congestion while maintaining a high level of safety. Recent years have seen an increase of using formal methods in the analysis and…
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…
Platooning of heavy-duty vehicles (HDVs) is a key component of smart and connected highways and is expected to bring remarkable fuel savings and emission reduction. In this paper, we study the coordination of HDV platooning on a highway…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
Platooning and coordination are two implementation strategies that are frequently proposed for traffic control of connected and autonomous vehicles (CAVs) at signal-free intersections instead of using conventional traffic signals. However,…
Vehicle platooning has been a promising solution for improving traffic efficiency and throughput. However, a failure in a single vehicle, including communication loss with neighboring vehicles, can significantly disrupt platoon performance…