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Artificial traffic fluids emerging from the design of cruise controllers

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/8ED6CA7E-E29F-49F4-9786-940F434712DC-
Αναγνωριστικόhttps://doi.org/10.1109/CDC51059.2022.9992605-
Αναγνωριστικόhttps://ieeexplore.ieee.org/document/9992605-
Γλώσσαen-
Μέγεθος6 pagesen
ΤίτλοςArtificial traffic fluids emerging from the design of cruise controllersen
ΔημιουργόςKarafyllis Iasonen
ΔημιουργόςΚαραφυλλης Ιασωνel
ΔημιουργόςTheodosis Dionysiosen
ΔημιουργόςΘεοδοσης-Παλιμερης Διονυσιοςel
ΔημιουργόςPapageorgiou Markosen
ΔημιουργόςΠαπαγεωργιου Μαρκοςel
ΕκδότηςInstitute of Electrical and Electronics Engineersen
ΠεριγραφήThe research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.en
ΠερίληψηIn this paper, we present two Control Lyapunov Function based families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov functions are based on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized, as each vehicle determines its control input based on its own speed and on the relative speeds and distances from adjacent vehicles and from the boundary of the road. Moreover, the corresponding macroscopic models are derived, obtaining fluid-like models that consist of a conservation equation and a momentum equation with pressure and viscous terms. Finally, we show that, by selecting appropriately the parameters of the feedback laws, we get free hand to create an artificial fluid that approximates the emerging traffic flow.en
ΤύποςΠλήρης Δημοσίευση σε Συνέδριοel
ΤύποςConference Full Paperen
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Ημερομηνία2024-06-25-
Ημερομηνία Δημοσίευσης2022-
Θεματική ΚατηγορίαArtificial fluiden
Θεματική ΚατηγορίαCruise controller designen
Βιβλιογραφική ΑναφοράI. Karafyllis, D. Theodosis and M. Papageorgiou, "Artificial traffic fluids emerging from the design of cruise controllers," in 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, doi: 10.1109/CDC51059.2022.9992605.en

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