124 citations · 411 across the 31 of their papers we have counts for
12 papers · 1 filter
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…
The effects of delay on the HKB model of human motor coordination
Lara I. Allen, Tamas G. Molnar, Zoltan Dombovari +1
In this paper, we analyse the celebrated Haken-Kelso-Bunz (HKB) model, describing the dynamics of bimanual coordination, in the presence of delay. We study the linear dynamics, sta…
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…
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…
Safety-Critical Manipulation for Collision-Free Food Preparation
Andrew Singletary, William Guffey, Tamas G. Molnar +2
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of q…
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…
Safe Backstepping with Control Barrier Functions
Andrew J. Taylor, Pio Ong, Tamas G. Molnar +1
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Fu…
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar +4
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement err…