46 citations · 170 across the 23 of their papers we have counts for
24 papers
Large-Scale Multi-Fleet Platoon Coordination: A Dynamic Programming Approach
Ting Bai, Alexander Johansson, Karl Henrik Johansson +1
Truck platooning is a promising technology that enables trucks to travel in formations with small inter-vehicle distances for improved aerodynamics and fuel economy. The real-world…
Rollout-Based Charging Strategy for Electric Trucks with Hours-of-Service Regulations (Extended Version)
Ting Bai, Yuchao Li, Karl H. Johansson +1
Freight drivers of electric trucks need to design charging strategies for where and how long to recharge the truck in order to complete delivery missions on time. Moreover, the cha…
Shared Situational Awareness with V2X Communication and Set-membership Estimation
Vandana Narri, Amr Alanwar, Jonas Mårtensson +2
The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational aw…
Multiagent Rollout with Reshuffling for Warehouse Robots Path Planning
William Emanuelsson, Alejandro Penacho Riveiros, Yuchao Li +2
Efficiently solving path planning problems for a large number of robots is critical to the successful operation of modern warehouses. The existing approaches adopt classical shorte…
Performance Bounds of Model Predictive Control for Unconstrained and Constrained Linear Quadratic Problems and Beyond
Yuchao Li, Aren Karapetyan, John Lygeros +2
We study unconstrained and constrained linear quadratic problems and investigate the suboptimality of the model predictive control (MPC) method applied to such problems. Considerin…
Approximate Dynamic Programming for Platoon Coordination under Hours-of-Service Regulations
Ting Bai, Alexander Johansson, Karl Henrik Johansson +1
Truck drivers are required to stop and rest with a certain regularity according to the driving and rest time regulations, also called Hours-of-Service (HoS) regulations. This paper…
Multi-criteria Decision-making of Intelligent Vehicles under Fault Condition Enhancing Public-private Partnership
Xin Tao, Mladen Čičić, Jonas Mårtensson
With the development of vehicular technologies on automation, electrification, and digitalization, vehicles are becoming more intelligent while being exposed to more complex, uncer…
A Pricing Rule for Third-Party Platoon Coordination Service Provider
Ting Bai, Alexander Johansson, Shaoyuan Li +1
We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges…
Truck Platoon Formation at Hubs: An Optimal Release Time Rule
Alexander Johansson, Valerio Turri, Ehsan Nekouei +2
We consider a hub-based platoon coordination problem in which vehicles arrive at a hub according to an independent and identically distributed stochastic arrival process. The vehic…
Event-Triggered Distributed Model Predictive Control for Platoon Coordination at Hubs in a Transport System
Ting Bai, Alexander Johansson, Karl Henrik Johansson +1
This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An event-triggere…
Multi-Fleet Platoon Matching: A Game-Theoretic Approach
Alexander Johansson, Ehsan Nekouei, Karl Henrik Johansson +1
We consider the platoon matching problem for a set of trucks with the same origin, but different destinations. It is assumed that the vehicles benefit from traveling in a platoon f…
Real-Time Cross-Fleet Pareto-Improving Truck Platoon Coordination
Alexander Johansson, Jonas Mårtensson, Xiaotong Sun +1
This paper studies a multi-fleet platoon coordination system in transport networks that deploy hubs to form trucks into platoons. The trucks belong to different fleets that are int…
Game Theoretic Models for Profit-Sharing in Multi-fleet Platoons
Alexander Johansson, Jonas Mårtensson
Profit-sharing is needed within platoons in order for competing transportation companies to collaborate in forming platoons. In this paper, we propose distribution models of the pr…
Short-term Maintenance Planning of Autonomous Trucks for Minimizing Economic Risk
Xin Tao, Jonas Mårtensson, Håkan Warnquist +1
New autonomous driving technologies are emerging every day and some of them have been commercially applied in the real world. While benefiting from these technologies, autonomous t…
Data-driven Rollout for Deterministic Optimal Control
Yuchao Li, Karl H. Johansson, Jonas Mårtensson +1
We consider deterministic infinite horizon optimal control problems with nonnegative stage costs. We draw inspiration from learning model predictive control scheme designed for con…
Strategic Hub-Based Platoon Coordination under Uncertain Travel Times
Alexander Johansson, Ehsan Nekouei, Karl Henrik Johansson +1
We study the strategic interaction among vehicles in a non-cooperative platoon coordination game. Vehicles have predefined routes in a transportation network with a set of hubs whe…
Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios
Vandana Narri, Amr Alanwar, Jonas Mårtensson +3
One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around eac…
A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles
Rui Oliveira, Oskar Ljungqvist, Pedro F. Lima +2
Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is a difficult task in comparison to passenger cars. Most research on motion planning for autonomous vehicl…
Optimal Freewheeling Control of a Heavy-Duty Vehicle Using Mixed Integer Quadratic Programming
Manne Held, Oscar Flärdh, Fredrik Roos +1
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impa…
Lambda-Policy Iteration with Randomization for Contractive Models with Infinite Policies: Well-Posedness and Convergence (Extended Version)
Yuchao Li, Karl H. Johansson, Jonas Mårtensson
Abstract dynamic programming models are used to analyze -policy iteration with randomization algorithms. Particularly, contractive models with infinite policies are considered a…
Path Planning for Autonomous Bus Driving in Urban Environments
Rui Oliveira, Pedro F. Lima, Gonçalo Collares Pereira +2
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large…
Trajectory Generation using Sharpness Continuous Dubins-like Paths with Applications in Control of Heavy Duty Vehicles
Rui Oliveira, Pedro F. Lima, Marcello Cirillo +2
We present a trajectory generation framework for control of wheeled vehicles under steering actuator constraints. The motivation is smooth autonomous driving of heavy vehicles. The…
Trajectory Planning Under Vehicle Dimension Constraints Using Sequential Linear Programming
Mogens Graf Plessen, Pedro F. Lima, Jonas Martensson +2
This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonline…
Cyber-physical Control of Road Freight Transport
B. Besselink, V. Turri, S. H. van de Hoef +4
Freight transportation is of outmost importance for our society and is continuously increasing. At the same time, transporting goods on roads accounts for about 26% of all energy c…