… Our main contributions are: • We begin by formulating the mixed-autonomy traffic as a
stochastic game and introduce a general decentralized framework for training cooperative AV, that …

… mixed traffic flow [23], [25], [26], with a notable exception in [24], where the case of multiple
AVs is considered but the cooperative … , the cooperative formation of AVs in mixed traffic flow, …

… Autonomous Vehicles (CAVs) results in a mixed traffic … of vehicles and conflict resolution
at the high-density, mixed, … Human-driven Vehicles (HVs) and the cooperation of CAVs …

… Abstract—Driving is a social activity: drivers often indicate their intent to change lanes …
mixedautonomy traffic where a Human-driven Vehicle (HV) and an Autonomous Vehicle (AV) drive …

… for connected and automated vehicles (CAVs) in a mixed-autonomy traffic environment, …
of humandriven vehicles (HVs). The proposed fully-automated cooperative adaptive cruise …

… Thus, it is attractive to produce a distributed scheme of MPC that enables autonomy of the
individual vehicles and … Vahidi, “Mixed-integer linear programming for optimal scheduling of …

… autonomous driving behaviors on an isolated intersection’s safety and mobility performance
measures in a mixed-autonomy … share of CAVs and human-cooperative vehicles increases. …

… mixed-autonomy traffic: How can a set of automated vehicles optimize a traffic system in the
presence of both automated … the mixed-autonomy traffic problem as a fully cooperative, fully …

… of connected manual vehicles (… cooperative decision-making in a connected mixed traffic
environment. First, the model integrates the perceived risk field theory, quantifying the driving …

… In the field of behavior planning for AVs in mixed-autonomy traffic, we identify two
fundamental problems. First, human drivers differ considerably in their individual traits and social …