相关论文: Decentralized Opinion-Integrated Decision making a…

In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…

Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…

Coordinated control of connected and automated vehicles (CAVs) emerges as a promising technology to improve traffic safety, efficiency, and sustainability. Meanwhile, mixed traffic, where CAVs coexist with conventional human-driven vehicles…

Non-signalized intersection is a typical and common scenario for connected and automated vehicles (CAVs). How to balance safety and efficiency remains difficult for researchers. To improve the original Responsibility Sensitive Safety (RSS)…

Rapid transit of emergency vehicles is critical for saving lives and reducing property loss but often relies on surrounding ordinary vehicles to cooperatively adjust their driving behaviors. It is important to ensure rapid transit of…

This thesis considers the problem of scheduling autonomous vehicles at intersections. A new system is proposed which is more efficient and could replace the recently introduced Autonomous Intersection Management (AIM) model. The proposed…

This paper considers an unsignalized intersection used by two traffic streams. A stream of cars is using a primary road, and has priority over the other, low-priority, stream. Cars belonging to the latter stream cross the primary road if…

We present in this paper a new algorithm for urban traffic light control with mixed traffic (communicating and non communicating vehicles) and mixed infrastructure (equipped and unequipped junctions). We call equipped junction here a…

Preceding vehicles typically dominate the movement of following vehicles in traffic systems, thereby significantly influencing the efficacy of eco-driving control that concentrates on vehicle speed optimization. To potentially mitigate the…

Smart and decentralized control systems have recently been proposed to handle the growing traffic congestion in urban cities. Proposed smart traffic light solutions based on Wireless Sensor Network and Vehicular Ad-hoc NETwork are either…

Urban intersections represent a complex environment for autonomous vehicles with many sources of uncertainty. The vehicle must plan in a stochastic environment with potentially rapid changes in driver behavior. Providing an efficient…

Since the traffic administration at road intersections determines the capacity bottleneck of modern transportation systems, intelligent cooperative coordination for connected autonomous vehicles (CAVs) has shown to be an effective solution.…

We introduce a prioritized system-optimal algorithm for mandatory lane change (MLC) behavior of connected and automated vehicles (CAV) from a dedicated lane. Our approach applies a cooperative lane change that prioritizes the decisions of…

Cooperative decision making is a vision of future network management and control. Distributed connection preemption is an important example where nodes can make intelligent decisions on allocating resources and controlling traffic flows for…

Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through precise coordination and automation. However, existing CAV…

Currently decision making is one of the biggest challenges in autonomous driving. This paper introduces a method for safely navigating an autonomous vehicle in highway scenarios by combining deep Q-Networks and insight from control theory.…

Inspired by distributed resource allocation problems in dynamic topology networks, we initiate the study of distributed consensus with finite messaging passing. We first find a sufficient condition on the network graph for which no…

This paper tackles the challenge of coordinating traffic lights and automated vehicles at signalized intersections, formulated as a constrained finite-horizon optimal control problem. The problem falls into the category of mixed-integer…