Cruise controllers for lane-free ring-roads based on control Lyapunov functions

The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. design the is based a Control Lyapunov Function methodology with function expressed measures energy system kinetic in ways similar to Newtonian or relativistic mechanics. derived feedback laws (cruise controllers) are decentralized (per vehicle), as each vehicle determines its control input on: (i) own state; (ii) either only distance from adjacent (inviscid state (viscous controllers); and (iii) boundaries ring-road. A detailed analysis differences similarities between straight-roads ring-roads also presented.