Coordination of Autonomous Vehicles

Coordination of Multiple Autonomous Vehicles

We analyze the coordinated motion of a group of nonholonomic vehicles that are controlled in a distributed fashion to exhibit flocking behavior. This behavior emerges from aggregating the control actions of all group members; it is not imposed by some centralized control scheme. Each vehicle is locally controlled by a combination of a potential field force and an alignment force. The former con...

Decentralized Coordination of Autonomous Vehicles at intersections

In this paper, the decentralized coordination of point-mass autonomous vehicles at intersections using navigation functions is considered. As main contribution, the inertia of the vehicles is taken into account to enable on-board energy optimization for crossing. In such a way, heavier vehicles that need more energy and time for acceleration or breaking are given an indirect priority at interse...

Motion coordination and control in systems of nonholonomic autonomous vehicles

Motion Coordination of Multiple Autonomous Vehicles in a Spatiotemporal Flowfield

Title of dissertation: MOTION COORDINATION OF MULTIPLE AUTONOMOUS VEHICLES IN A SPATIOTEMPORAL FLOWFIELD Cameron Kai Peterson, Doctor of Philosophy, 2012 Dissertation directed by: Professor Derek Paley Department of Aerospace Engineering The long-term goal of this research is to provide theoretically justified control strategies to operate autonomous vehicles in spatiotemporal flowfields. The s...

Perception, Planning, Control, and Coordination for Autonomous Vehicles

Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cos...