Feasibility guaranteed traffic merging control using control barrier functions
We consider the merging control problem for Connected and Automated Vehicles (CAVs)
aiming to jointly minimize travel time and energy consumption while providing speed …
aiming to jointly minimize travel time and energy consumption while providing speed …
Decentralized merging control in traffic networks with noisy vehicle dynamics: A joint optimal control and barrier function approach
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs)
arriving from two roads at a merging point where the objective is to jointly minimize the travel …
arriving from two roads at a merging point where the objective is to jointly minimize the travel …
Decentralized merging control in traffic networks: A control barrier function approach
In this paper, we aim to optimize the process of Connected and Automated Vehicles (CAVs)
merging at a traffic intersection while guaranteeing the state, control and safety constraints …
merging at a traffic intersection while guaranteeing the state, control and safety constraints …
Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles
We address the problem of optimizing the performance of a dynamic system while satisfying
hard safety constraints at all times. Implementing an optimal control solution is limited by the …
hard safety constraints at all times. Implementing an optimal control solution is limited by the …
Decentralized optimal merging control for connected and automated vehicles with safety constraint guarantees
W Xiao, CG Cassandras - Automatica, 2021 - Elsevier
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs)
arriving from two roads at a Merging Point (MP) where the objective is to jointly minimize the …
arriving from two roads at a Merging Point (MP) where the objective is to jointly minimize the …
Decentralized optimal merging control for connected and automated vehicles
W Xiao, CG Cassandras - 2019 American Control Conference …, 2019 - ieeexplore.ieee.org
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs)
arriving from two roads at a merging point where the objective is to jointly minimize the travel …
arriving from two roads at a merging point where the objective is to jointly minimize the travel …
Conditions for improving the computational efficiency of decentralized optimal merging controllers for connected and automated vehicles
W Xiao, CG Cassandras - 2019 IEEE 58th Conference on …, 2019 - ieeexplore.ieee.org
A solution to a decentralized optimal merging problem for Connected and Automated
Vehicles (CAVs) was provided in earlier work. When no safety and state/control constraints …
Vehicles (CAVs) was provided in earlier work. When no safety and state/control constraints …
Decentralized optimal control in multi-lane merging for connected and automated vehicles
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs)
arriving from two multi-lane roads and merging at multiple points where the objective is to …
arriving from two multi-lane roads and merging at multiple points where the objective is to …
Coordination for Connected Automated Vehicles at Merging Roadways in Mixed Traffic Environment
In this paper, we present an optimal control framework to address motion coordination of
connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in …
connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in …
Optimal control of connected automated vehicles with event-triggered control barrier functions: a test bed for safe optimal merging
We address the problem of safely coordinating a network of Connected and Automated
Vehicles (CAVs) in conflict areas of a traffic network. Such problems can be solved through a …
Vehicles (CAVs) in conflict areas of a traffic network. Such problems can be solved through a …