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Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach

https://doi.org/10.1109/ICRA57147.2024.10611204

Le, Viet-Anh; Tadiparthi, Vaishnav; Chalaki, Behdad; Mahjoub, Hossein Nourkhiz; D’Sa, Jovin; Moradi-Pari, Ehsan; Malikopoulos, Andreas A (May 2024, IEEE)

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Cooperative energy and time-optimal lane change maneuvers with minimal highway traffic disruption

https://doi.org/10.1016/j.automatica.2024.111651

Chavez_Armijos, Andres S; Li, Anni; Cassandras, Christos G; Al-Nadawi, Yasir K; Araki, Hidekazu; Chalaki, Behdad; Moradi-Pari, Ehsan; Mahjoub, Hossein Nourkhiz; Tadiparthi, Vaishnav (July 2024, Automatica)

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Stochastic Time-Optimal Trajectory Planning for Connected and Automated Vehicles in Mixed-Traffic Merging Scenarios

https://doi.org/10.1109/TCST.2024.3433206

Le, Viet-Anh; Chalaki, Behdad; Tzortzoglou, Filippos N; Malikopoulos, Andreas A (January 2024, IEEE Transactions on Control Systems Technology)

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A constrained optimal control framework for vehicle platoons with delayed communication

https://doi.org/10.3934/nhm.2023043

Mahbub, A M; Chalaki, Behdad; Malikopoulos, Andreas A. (January 2023, Networks and Heterogeneous Media)

Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging scenario. We present a single-level constrained optimal control framework that optimizes the fuel economy and travel time of the platoons while satisfying the state, control, and safety constraints. We also explore the effect of delayed communication among the CAV platoons and propose a robust coordination framework to enforce lateral and rear-end collision avoidance constraints in the presence of bounded delays. We provide a closed-form analytical solution to the optimal control problem with safety guarantees that can be implemented in real time. Finally, we validate the effectiveness of the proposed control framework using a high-fidelity commercial simulation environment.
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A Research and Educational Robotic Testbed for Real-Time Control of Emerging Mobility Systems: From Theory to Scaled Experiments [Applications of Control]

https://doi.org/10.1109/MCS.2022.3209056

Chalaki, Behdad; Beaver, Logan E.; Mahbub, A.M. Ishtiaque; Bang, Heeseung; Malikopoulos, Andreas A. (December 2022, IEEE Control Systems)

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