21 citations · 80 across the 45 of their papers we have counts for
31 papers · 1 filter
Scaling up the Optimal Safe Control of Connected and Automated Vehicles to a Traffic Network: A Hierarchical Framework of Modular Control Zones
Kaiyuan Xu, Christos G. Cassandras
We consider the problem of scaling up optimal and safe controllers for Connected and Automated Vehicles (CAVs) from a single Control Zone (CZ) around a traffic conflict area to an…
Maximizing Safety and Efficiency for Cooperative Lane-Changing: A Minimally Disruptive Approach
Andres S. Chavez Armijos, Anni Li, Christos G. Cassandras
This paper addresses cooperative lane-changing maneuvers in mixed traffic, aiming to minimize traffic flow disruptions while accounting for uncooperative vehicles. The proposed app…
Merging control in mixed traffic with safety guarantees: a safe sequencing policy with optimal motion control
Ehsan Sabouni, H. M. Sabbir Ahmad, Christos G. Cassandras +1
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in s…
Scalable Adaptive Traffic Light Control Over a Traffic Network Including Transit Delays
Yingqing Chen, Christos G. Cassandras
We study the Traffic Light Control (TLC) problem for a traffic network with multiple intersections in an artery, including the effect of transit delays for vehicles moving from one…
Safe Control Synthesis Using Environmentally Robust Control Barrier Functions
Vahid Hamdipoor, Nader Meskin, Christos G. Cassandras
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formul…
Cooperative Lane Changing in Mixed Traffic can be Robust to Human Driver Behavior
Anni Li, Andres S. Chavez Armijos, Christos G. Cassandras
We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Hum…