High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2015
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| Online Access: | http://hdl.handle.net/1721.1/98809 |
| _version_ | 1826194358736519168 |
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| author | Miculescu, David |
| author2 | Sertac Karaman. |
| author_facet | Sertac Karaman. Miculescu, David |
| author_sort | Miculescu, David |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015. |
| first_indexed | 2024-09-23T09:54:46Z |
| format | Thesis |
| id | mit-1721.1/98809 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:54:46Z |
| publishDate | 2015 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/988092019-04-12T13:57:39Z High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections High performance and provably safe polling-systems-based control algorithms of autonomous intersections Miculescu, David Sertac Karaman. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2015. Cataloged from PDF version of thesis. Includes bibliographical references (pages 65-67). The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance. A widely studied concept is all-autonomous, collision-free intersections, where vehicles arriving in a traffic intersection with no traffic light adjust their speeds to cross through the intersection as quickly as possible. In this thesis, we propose a coordination control algorithm for this problem, assuming stochastic models for the arrival times of the vehicles. The proposed algorithm provides provable guarantees on safety and performance. More precisely, it is shown that no collisions occur surely, and moreover a rigorous upper bound is provided for the expected wait time. The algorithm is also demonstrated in simulations. The proposed algorithms are inspired by polling systems. In fact, the problem studied in this thesis leads to a new polling system where customers are subject to differential constraints, which may be interesting in its own right. by David Miculescu. S.M. 2015-09-17T19:13:40Z 2015-09-17T19:13:40Z 2015 2015 Thesis http://hdl.handle.net/1721.1/98809 921147049 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 67 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Aeronautics and Astronautics. Miculescu, David High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title | High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title_full | High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title_fullStr | High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title_full_unstemmed | High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title_short | High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections |
| title_sort | high performance and provably safe polling systems based control algorithms of all autonomous intersections |
| topic | Aeronautics and Astronautics. |
| url | http://hdl.handle.net/1721.1/98809 |
| work_keys_str_mv | AT miculescudavid highperformanceandprovablysafepollingsystemsbasedcontrolalgorithmsofallautonomousintersections AT miculescudavid highperformanceandprovablysafepollingsystemsbasedcontrolalgorithmsofautonomousintersections |