Decision-making and planning are the core aspects of autonomous driving systems. These
factors are crucial for improving the safety, driving experience, and travel efficiency of …

Nowadays, with the advancement of technology, world is trending toward high mobility and
dynamics. In this context, intersection management (IM) as one of the most crucial elements …

Intersection management of Connected Autonomous Vehicles (CAVs) has the potential to
improve safety and mobility. CAVs approaching an intersection can exchange information …

Composite optimization offers a powerful modeling tool for a variety of applications and is
often numerically solved by means of proximal gradient methods. In this paper, we consider …

We propose a fully distributed control system architecture, amenable to in-vehicle
implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at …

In this paper, we analyse the performance of a model predictive controller for coordination of
connected, automated vehicles at intersections. The problem has combinatorial complexity …

Priority and mutual interaction among vehicles are crucial for the efficiency and safety
control of unsignalized intersections. However, most of the approaches for intersection …

This paper presents a novel proximal planning and control (PPC) formulation for an
unmanned ground vehicle (UGV) which is affected by skidding and slip disturbances. The …

Research in Cooperative Intersection Management (CIM), utilizing Vehicle-to-Everything
(V2X) communication among Connected and/or Autonomous Vehicles (CAVs), is crucial for …

This contribution introduces a centralized input constrained optimal control framework based
on multiple control barrier functions (CBFs) to coordinate connected and automated agents …