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Challenged by urbanization and increasing travel needs, existing transportation systems need new mobility paradigms. In this article, we present the emerging concept of autonomous mobility-on-demand, whereby centrally orchestrated fleets of autonomous vehicles provide mobility service to customers. We provide a comprehensive review of methods and tools to model and solve problems related to autonomous mobility-on-demand systems. Specifically, we first identify problem settings for their analysis and control, from both operational and planning perspectives. We then review modeling aspects, including transportation networks, transportation demand, congestion, operational constraints, and interactions with existing infrastructure. Thereafter, we provide a systematic analysis of existing solution methods and performance metrics, highlighting trends and trade-offs. Finally, we present various directions for further research. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates. 

Public goods are often either over-consumed in the absence of regulatory mechanisms, or remain completely unused, as in the Covid-19 pandemic, where social distance constraints are enforced to limit the number of people who can share public spaces. In this work, we plug this gap through market based mechanisms designed to efficiently allocate capacity constrained public goods. To design these mechanisms, we leverage the theory of Fisher markets, wherein each agent in the economy is endowed with an artificial currency budget that they can spend to avail public goods. While Fisher markets provide a strong methodological backbone to model resource allocation problems, their applicability is limited to settings involving two types of constraints - budgets of individual buyers and capacities of goods. Thus, we introduce a modified Fisher market, where each individual may have additional physical constraints, characterize its solution properties and establish the existence of a market equilibrium. Furthermore, to account for additional constraints we introduce a social convex optimization problem where we perturb the budgets of agents such that the KKT conditions of the perturbed social problem establishes equilibrium prices. Finally, to compute the budget perturbations we present a fixed point scheme and illustrate convergence guarantees through numerical experiments. Thus, our mechanism, both theoretically and computationally, overcomes a fundamental limitation of classical Fisher markets, which only consider capacity and budget constraints. 

We study an online hypergraph matching problem with delays, motivated by ridesharing applications. In this model, users enter a marketplace sequentially, and are willing to wait up to $d$ timesteps to be matched, after which they will leave the system in favor of an outside option. A platform can match groups of up to $k$ users together, indicating that they will share a ride. Each group of users yields a match value depending on how compatible they are with one another. As an example, in ridesharing, $k$ is the capacity of the service vehicles, and $d$ is the amount of time a user is willing to wait for a driver to be matched to them. We present results for both the utility maximization and cost minimization variants of the problem. In the utility maximization setting, the optimal competitive ratio is $\frac{1}{d}$ whenever $k \geq 3$, and is achievable in polynomial-time for any fixed $k$. In the cost minimization variation, when $k = 2$, the optimal competitive ratio for deterministic algorithms is $\frac{3}{2}$ and is achieved by a polynomial-time thresholding algorithm. When $k>2$, we show that a polynomial-time randomized batching algorithm is $(2 - \frac{1}{d}) \log k$-competitive, and it is NP-hard to achieve a competitive ratio better than $\log k - O (\log \log k)$. 

This paper studies congestion-aware route- planning policies for Autonomous Mobility-on-Demand (AMoD) systems, whereby a fleet of autonomous vehicles provides on- demand mobility under mixed traffic conditions. Specifically, we first devise a network flow model to optimize the AMoD routing and rebalancing strategies in a congestion-aware fashion by accounting for the endogenous impact of AMoD flows on travel time. Second, we capture reactive exogenous traffic consisting of private vehicles selfishly adapting to the AMoD flows in a user- centric fashion by leveraging an iterative approach. Finally, we showcase the effectiveness of our framework with a case- study considering the transportation sub-network in New York City. Our results suggest that for high levels of demand, pure AMoD travel can be detrimental due to the additional traffic stemming from its rebalancing flows, whilst the combination of AMoD with walking or micromobility options can significantly improve the overall system performance. 

The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their technological development could significantly affect transportation management decisions. This calls for tools to study such a coupling and co-design AVs and AV-enabled mobility systems in terms of different objectives. In this paper, we instantiate a framework to address such co-design problems. In particular, we leverage the recently developed theory of co-design to frame and solve the problem of designing and deploying an intermodal Autonomous Mobility-on-Demand system, whereby AVs service travel demands jointly with public transit, in terms of fleet sizing, vehicle autonomy, and public transit service frequency. Our framework is modular and compositional, allowing one to describe the design problem as the interconnection of its individual components and to tackle it from a system-level perspective. To showcase our methodology, we present a real-world case study for Washington D.C., USA. Our work suggests that it is possible to create user-friendly optimization tools to systematically assess costs and benefits of interventions, and that such analytical techniques might gain a momentous role in policy-making in the future. 

This paper presents models and optimization methods for the design of electric vehicle propulsion systems. Specifically, we first derive a bi-convex model of a battery electric powertrain including the transmission and explicitly accounting for the impact of its components’ size on the energy consumption of the vehicle. Second, we formulate the energy-optimal sizing and control problem for a given driving cycle and solve it as a sequence of second-order conic programs. Finally, we present a real-world case study for heavy-duty electric trucks, comparing a single-gear transmission with a continuously variable transmission (CVT), and validate our approach with respect to state-of-the-art particle swarm optimization algorithms. Our results show that, depending on the electric motor technology, CVTs can reduce the energy consumption and the battery size of electric trucks between up to 10%, and shrink the electric motor up to 50%. 

This paper presents an algorithmic framework to optimize the operation of an Autonomous Mobility-on-Demand system whereby a centrally controlled fleet of electric self-driving vehicles provides on-demand mobility. In particular, we first present a mixed-integer linear program that captures the joint vehicle coordination and charge scheduling problem, accounting for the battery level of the single vehicles and the energy availability in the power grid. Second, we devise a heuristic algorithm to compute near-optimal solutions in polynomial time. Finally, we apply our algorithm to realistic case studies for Newport Beach, CA. Our results validate the near optimality of our method with respect to the global optimum, whilst suggesting that through vehicle-to-grid operation we can enable a 100% penetration of renewable energy sources and still provide a high-quality mobility service.