[图书][B] Safe Autonomy with Control Barrier Functions: Theory and Applications
This book presents the concept of Control Barrier Function (CBF), which captures the
evolution of safety requirements during the execution of a system and can be used to …
evolution of safety requirements during the execution of a system and can be used to …
Decentralized time and energy-optimal control of connected and automated vehicles in a roundabout with safety and comfort guarantees
We consider the problem of controlling Connected and Automated Vehicles (CAVs) traveling
through a roundabout so as to jointly minimize their travel time, energy consumption, and …
through a roundabout so as to jointly minimize their travel time, energy consumption, and …
[HTML][HTML] Hierarchical motion control strategies for handling interactions of automated vehicles
The paper proposes motion control strategies for automated road vehicles to handle
interactions among vehicles. The control strategies are built in a hierarchical structure, which …
interactions among vehicles. The control strategies are built in a hierarchical structure, which …
Safe control synthesis using environmentally robust control barrier functions
In this paper, we study a safe control design for dynamical systems in the presence of
uncertainty in a dynamical environment. The worst-case error approach is considered to …
uncertainty in a dynamical environment. The worst-case error approach is considered to …
Real-time cooperative vehicle coordination at unsignalized road intersections
Cooperative coordination at unsignalized road intersections, which aims to improve the
driving safety and traffic throughput for connected and automated vehicles (CAVs), has …
driving safety and traffic throughput for connected and automated vehicles (CAVs), has …
Optimal traffic operation for maximum energy efficiency in signal-free urban networks: A macroscopic analytical approach
M Amirgholy, HO Gao - Applied Energy, 2023 - Elsevier
The integration of artificial intelligence and wireless communication technologies in
communicant autonomous vehicles (CAVs) enables coordinating the movement of CAV …
communicant autonomous vehicles (CAVs) enables coordinating the movement of CAV …
Joint optimization for autonomous intersection management and trajectory smoothing design with connected automated vehicles
Trajectory smoothing design (TSD) may significantly reduce fuel consumption and improve
driving comfort at intersections. In this paper, a mixed integer linear programming (MILP) …
driving comfort at intersections. In this paper, a mixed integer linear programming (MILP) …
Trust-aware resilient control and coordination of connected and automated vehicles
We address the security of a network of Connected and Automated Vehicles (CAVs)
cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can …
cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can …
[PDF][PDF] Evaluations of cyber attacks on cooperative control of connected and autonomous vehicles at bottleneck points
In this paper we analyze the effect of cyberattacks on cooperative control of connected and
autonomous vehicles (CAVs) at traffic bottleneck points. We focus on three types of such …
autonomous vehicles (CAVs) at traffic bottleneck points. We focus on three types of such …
Group Frenet Frame CAV Path Planning on Highways
Connected autonomous vehicle (CAV) systems could bring considerable benefits to our
daily lives, and possibly outperform single autonomous vehicles. Nevertheless, the real-time …
daily lives, and possibly outperform single autonomous vehicles. Nevertheless, the real-time …