Deriving optimal control strategies for coordination of connected and automated vehicles
(CAVs) often requires re-evaluating the strategies in order to respond to unexpected …

In this paper, we provide a hierarchical coordination framework for connected and
automated vehicles (CAVs) at two adjacent intersections. This framework consists of an …

In this paper, we extend a framework that we developed earlier for coordination of
connected and automated vehicles (CAVs) at a signal-free intersection by integrating a …

We propose a hybrid centralized/distributed architecture to coordinate autonomous vehicles
at intersections. The centralized job scheduler assigns and updates a service time for every …

In this paper, we provide a decentralized optimal control framework for coordinating
connected and automated vehicles (CAVs) in two interconnected intersections. We …

The problem of coordinating automated vehicles at intersections can be formulated as an
optimal control problem which is inherently difficult to solve, due to its combinatorial nature …

The topic of this paper is the design of a fully distributed and real-time capable control
scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) …

In this article, we study the optimal coordination of automated vehicles at intersections. The
problem can be stated as an optimal control problem (OCP), which can be decomposed as a …

Compared with a conventional intersection, a signal-free and lane-free intersection enables
the vehicles to drive more flexibly, thereby to promote the throughput and to reduce …

In earlier work, a decentralized optimal control framework was established for coordinating
online connected and automated vehicles (CAVs) in merging roadways, urban intersections …