相关论文: Adaptive Control of Heterogeneous Platoons with Gu…
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…
Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
In today's world, circumstances, processes, and requirements for software systems are becoming increasingly complex. In order to operate properly in such dynamic environments, software systems must adapt to these changes, which has led to…
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…
Platooning can serve as an effective management measure for connected and autonomous vehicles (CAVs) to ensure overall traffic efficiency. Current study focus on the longitudinal control of CAV platoons, however it still remains a…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
This article studies the problems of distributed dynamic platoons control and smart junction crossing optimization for a mixed traffic flow with connected automated vehicles(CAVs) and social human-driven vehicles(HDVs) in a smart city. The…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
Recent developments in autonomous driving, vehicle-to-vehicle communication and smart traffic controllers have provided a hope to realize platoon formation of vehicles. The main benefits of vehicle platooning include improved safety,…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…