76 citations · 257 across the 23 of their papers we have counts for
24 papers
Safe and Stable Connected Cruise Control for Connected Automated Vehicles with Response Lag
Yuchen Chen, Gabor Orosz, Tamas G. Molnar
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, t…
On the Safety of Connected Cruise Control: Analysis and Synthesis with Control Barrier Functions
Tamas G. Molnar, Gabor Orosz, Aaron D. Ames
Connected automated vehicles have shown great potential to improve the efficiency of transportation systems in terms of passenger comfort, fuel economy, stability of driving behavi…
Steering Control of an Autonomous Unicycle
Máté Benjámin Vizi, Gábor Orosz, Dénes Takács +1
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their sta…
Coordination for Connected Automated Vehicles at Merging Roadways in Mixed Traffic Environment
Viet-Anh Le, Hao M. Wang, Gabor Orosz +1
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 merg…
Parameterized Barrier Functions to Guarantee Safety under Uncertainty
Anil Alan, Tamas G. Molnar, Aaron D. Ames +1
Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties in control systems. In this context, robust control barrier functions -- in a v…
Experimental Validation of a Safe Controller Integration Scheme for Connected Automated Trucks
Anil Alan, Chaozhe R. He, Tamas G. Molnar +3
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to addres…
Connected Cruise and Traffic Control for Pairs of Connected Automated Vehicles
Sicong Guo, Gabor Orosz, Tamas G. Molnar
This paper considers mixed traffic consisting of connected automated vehicles equipped with vehicle-to-everything (V2X) connectivity and human-driven vehicles. A control strategy i…
Energy-efficient Reactive and Predictive Connected Cruise Control
Minghao Shen, R. Austin Dollar, Tamas G. Molnar +3
In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-dr…
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
Anil Alan, Tamas G. Molnar, Ersin Das +2
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the eff…
Control Barrier Functionals: Safety-critical Control for Time Delay Systems
Adam K. Kiss, Tamas G. Molnar, Aaron D. Ames +1
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees fo…
Control Barrier Functions and Input-to-State Safety with Application to Automated Vehicles
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessar…
Learning Time Delay Systems with Neural Ordinary Differential Equations
Xunbi A. Ji, Gabor Orosz
A novel way of using neural networks to learn the dynamics of time delay systems from sequential data is proposed. A neural network with trainable delays is used to approximate the…
Energy-efficient Connected Cruise Control with Lean Penetration of Connected Vehicles
Minghao Shen, Chaozhe R. He, Tamas Molnar +2
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicl…
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
Tamas G. Molnar, Anil Alan, Adam K. Kiss +2
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function th…
Virtual Rings on Highways: Traffic Control by Connected Automated Vehicles
Tamas G. Molnar, Michael Hopka, Devesh Upadhyay +2
This work gives introduction to traffic control by connected automated vehicles. The influence of vehicle control on vehicular traffic and traffic control strategies are discussed…
Safety-Aware Preference-Based Learning for Safety-Critical Control
Ryan K. Cosner, Maegan Tucker, Andrew J. Taylor +7
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conser…
Safety-Critical Control with Input Delay in Dynamic Environment
Tamas G. Molnar, Adam K. Kiss, Aaron D. Ames +1
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate saf…
Nonholonomic dynamics and control of road vehicles: moving toward automation
Wubing B. Qin, Yiming Zhang, Dénes Takács +2
Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics w…
Traffic Forecasting using Vehicle-to-Vehicle Communication
Steven Wong, Lejun Jiang, Robin Walters +3
We take the first step in using vehicle-to-vehicle (V2V) communication to provide real-time on-board traffic predictions. In order to best utilize real-world V2V communication data…
Safe Controller Synthesis with Tunable Input-to-State Safe Control Barrier Functions
Anil Alan, Andrew J. Taylor, Chaozhe R. He +2
To bring complex systems into real world environments in a safe manner, they will have to be robust to uncertainties - both in the environment and the system. This paper investigat…
Safety-Critical Control of Compartmental Epidemiological Models with Measurement Delays
Tamas G. Molnar, Andrew W. Singletary, Gabor Orosz +1
We introduce a methodology to guarantee safety against the spread of infectious diseases by viewing epidemiological models as control systems and by considering human interventions…
Control Regularization for Reduced Variance Reinforcement Learning
Richard Cheng, Abhinav Verma, Gabor Orosz +3
Dealing with high variance is a significant challenge in model-free reinforcement learning (RL). Existing methods are unreliable, exhibiting high variance in performance from run t…
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks
Richard Cheng, Gabor Orosz, Richard M. Murray +1
Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process…
Decomposing the dynamics of heterogeneous delayed networks with applications to connected vehicle systems
Róbert Szalai, Gábor Orosz
Delay-coupled networks are investigated with nonidentical delay times and the effects of such heterogeneity on the emergent dynamics of complex systems are characterized. A simple…