10 papers
Exact-Time Safety Recovery using Time-Varying Control Barrier Functions with Optimal Barrier Tracking
Yingqing Chen, Christos G. Cassandras, Wei Xiao +1
This paper is motivated by controllers developed for autonomous vehicles which occasionally result into conditions where safety is no longer guaranteed. We develop an exact-time sa…
Finite-time Convergent Control Barrier Functions with Feasibility Guarantees
Anni Li, Yingqing Chen, Christos G. Cassandras +1
This paper studies the problem of finite-time convergence to a prescribed safe set for nonlinear systems whose initial states violate the safety constraints. Existing Control Lyapu…
Robust Dynamic Pricing and Admission Control with Fairness Guarantees
Yingqing Chen, Anni Li, Christos G. Cassandras +3
Dynamic pricing is commonly used to regulate congestion in shared service systems. This paper is motivated by the fact that in the presence of users with varying price sensitivity…
Robust Taylor-Lagrange Control for Safety-Critical Systems
Wei Xiao, Christos Cassandras, Anni Li
Solving safety-critical control problem has widely adopted the Control Barrier Function (CBF) method. However, the existence of a CBF is only a sufficient condition for system safe…
Taylor-Lagrange Control for Safety-Critical Systems
Wei Xiao, Anni Li
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder.…
A Cooperative Compliance Control Framework for Socially Optimal Mixed Traffic Routing
Anni Li, Ting Bai, Yingqing Chen +2
In mixed traffic environments, where Connected and Autonomed Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDVs), the self-centered behavior of hu…
Routing Guidance for Emerging Transportation Systems with Improved Dynamic Trip Equity
Ting Bai, Anni Li, Gehui Xu +2
This paper presents a dynamic routing guidance system that optimizes route recommendations for individual vehicles in an emerging transportation system while enhancing travelers' t…
Robust Optimal Lane-changing Control for Connected Autonomous Vehicles in Mixed Traffic
Anni Li, Andres S. Chavez Armijos, Christos G. Cassandras
We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human…
Towards Achieving Cooperation Compliance of Human Drivers in Mixed Traffic
Anni Li, Christos G. Cassandras
We consider a mixed-traffic environment in transportation systems, where Connected and Automated Vehicles (CAVs) coexist with potentially non-cooperative Human-Driven Vehicles (HDV…
Safe Optimal Interactions Between Automated and Human-Driven Vehicles in Mixed Traffic with Event-triggered Control Barrier Functions
Anni Li, Christos G. Cassandras, Wei Xiao
This paper studies safe driving interactions between Human-Driven Vehicles (HDVs) and Connected and Automated Vehicles (CAVs) in mixed traffic where the dynamics and control polici…