the control of car following is essential due to its safety and its operational efficiency. for this purpose, this paper builds a model of car following behavior based on armax structure from a real traffic dataset and design a model predictive control (mpc) system. based on the relative distance and relative acceleration of each instant, the mpc predicts the future behavior of the leader vehic...

Accurate maintenance of a geometric configuration between multiple autonomous vehicles can often accomplish objectives impossible for a single vehicle. Much work on formation control in the current literature relies on the leader-follower approach, where some vehicles are designated as leaders while others are designated as followers. The leaders track predefined trajectories, and the followers...

To overcome the limitations of a single unmanned surface vehicle (USV), this study investigated swarm control algorithms USVs. Among various methods, leader–follower method was selected and studied. The performance algorithm proposed in verified through an actual sea area test. A USV designed manufactured by dividing power communication parts. system equipped with coulometer to monitor battery ...

The control of car following is essential due to its safety and its operational efficiency. For this purpose, this paper builds a model of car following behavior based on ARMAX structure from a real traffic dataset and design a Model Predictive Control (MPC) system. Based on the relative distance and relative acceleration of each instant, the MPC predicts the future behavior of the leader vehic...

The paper studies the visibility maintenance problem (VMP) for a leader-follower pair of Dubins-like vehicles with input constraints, and proposes an original solution based on the notion of controlled invariance. The nonlinear model describing the relative dynamics of the vehicles is interpreted as linear uncertain system, with the leader robot acting as an external disturbance. The VMP is the...

Various control algorithms have been developed for fleets of autonomous vehicles. Many of the successful control algorithms in practice are behavior-based control or nonlinear control algorithms, which makes analyzing their stability difficult. At the same time, many system theoretic approaches for controlling a fleet of vehicles have also been developed. These approaches usually use very simpl...

In this paper, we propose a new data-driven model to simulate the process of lane-changing in traffic simulation. Specifically, we first extract the features from surrounding vehicles that are relevant to the lane-changing of the subject vehicle. Then, we learn the lane-changing characteristics from the ground-truth vehicle trajectory data using randomized forest and back-propagation neural net...

This paper proposes a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives a follower vehicle to a target vehicle using an on-line estimate of the target’s state. In this scenario, when the target is observed through a nonlinear observation model, e.g., bearing only or range only sensors, it is possible ...

The aim of this work is to design a control system based on modern methods flight formations quadrotor unmanned aerial vehicles. A leader-follower methodology implemented where the leader vehicle has some predefined trajectory, and follower vehicles are controlled in order track while keeping constant displacement. formation system, responsible for formation, considers, at first, only motion he...