In order to overcome urban space constraints, underground road systems are becoming popular options for cities. Existing literature suggests that accident rates in road tunnels are lower than those in open roads. However, there is a lack of understanding in how the road tunnel environment affects inter-vehicle interactions. In this study, car following data are obtained from traffic video foota...

In this paper, we propose a novel coordinated path following controller based on model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure approach where the entire formation is considered as a rigid body and the control laws for a virtual leader vehicle and for actual follower robots are optimized by considering the dynamics of the virtual structure and the...

This paper proposes a hierarchical MPC strategy for autonomous navigation of a formation of unmanned aerial vehicles (UAVs) of quadcopter type under obstacle and collision avoidance constraints. Each vehicle is stabilized by a lower-level local linear MPC controller around a desired position, that is generated, at a slower sampling rate, by a hybrid MPC controller per vehicle. Such an upper con...

Abstruct-Formation flying is defined as a set of more than one spacecraft whose states are coupled through a common control law. This paper provides a comprehensive survey of spacecraft formation flying control (FFC), which encompasses design techniques and stability results for these coupled-state control laws. We divide the FFC literature into five FFC architectures: (i) Multiple-Input Multip...

In this paper, dynamic and stability analysis of a flexible cam-follower system is investigated. Equation of motion is derived considering flexibility of the follower and camshaft. Viscous and Coulomb frictions are considered in the rocker arm pivot. The normalized equation of motion of the system is a 2nd- order differential equation with periodic coefficients. Floquet theory is employed to s...

This paper considers a string of vehicles where the local control law uses the states of the vehicle’s immediate predecessor and follower. The coupling towards the preceding vehicle can be chosen different to the coupling towards the following vehicle, which is often referred to as an asymmetric bidirectional string. Further, the asymmetry for the velocity coupling can be chosen differently to ...

Passing rate measurements of backward-moving kinematic waves in congestion are applied to quantify two traffic features; a relaxation phenomenon of vehicle lane-changing and impact of lane-changing in traffic streams after the relaxation process is complete. The relaxation phenomenon occurs when either a lane-changer or its immediate follower accepts a short spacing upon insertion and gradually...

In this paper, we describe the concept of building a robot able to pursue a specific person through an airport while assisting with carrying that person’s luggage. After a review of the current devices available for performing these tasks, we described our approach that aims to develop a platform that could send and receive a signal that would provide a simple and practical means for the robot ...