8 papers
REACT: Environment-Adaptive Architecture for Continuous Formation Navigation of Wheeled Mobile Robots
Jianghong Dong, Yifeng Zhang, Jiawei Wang +3
Formation control of wheeled mobile robots (WMRs) has been extensively studied due to its broad applications in fields such as logistics transportation, environmental monitoring, a…
Multi-Source Human-in-the-Loop Digital Twin Testbed for Connected and Autonomous Vehicles in Mixed Traffic Flow
Jianghong Dong, Chunying Yang, Mengchi Cai +5
In the emerging mixed traffic environments, Connected and Autonomous Vehicles (CAVs) have to interact with surrounding human-driven vehicles (HDVs). This paper introduces MSH-MCCT…
cuNRTO: GPU-Accelerated Nonlinear Robust Trajectory Optimization
Jiawei Wang, Arshiya Taj Abdul, Evangelos A. Theodorou
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbance…
Towards Resilient Transportation: A Conditional Transformer for Accident-Informed Traffic Forecasting
Hongjun Wang, Jiawei Yong, Jiawei Wang +2
Traffic prediction remains a key challenge in spatio-temporal data mining, despite progress in deep learning. Accurate forecasting is hindered by the complex influence of external…
Mixed Platoon Control under Noise and Attacks: Robust Data-Driven Predictive Control and Human-in-the-Loop Validation
Shuai Li, Chaoyi Chen, Haotian Zheng +4
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and un…
Robust Nonlinear Data-Driven Predictive Control for Mixed Vehicle Platoons via Koopman Operator and Reachability Analysis
Shuai Li, Jiawei Wang, Kaidi Yang +3
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance. However,…