In the article the problem of modern cities - transport jams - is taken up. We propose several variants of solution and one of the main - the use of autonomous mobile robots as public transport. This is caused by active development of robotics. The article contains the review of the latest achievements of this perspective sphere and technical characteristic of two mobile robots for providing effectiveness of traffic. Functioning of robots takes place in confined environment with distinct infrastructure.

The paper introduces a new notion that is a graph of crossroad transport flows. It has been shown that the given graph serves as a unification of conflict graphs. The paper provides numerical characteristics of graphs on conflict interaction of transport flows in the process of their merging and intersection at crossroads of various configuration. The following construction of the graph has been carried out: merging graphs where their nodes correspond to conflicting flows and their edges indicate what flows enter into a merging conflict between themselves; intersection graphs where graph nodes correspond to conflicting flows and their edges indicate what flows enter into an intersection conflict between themselves. Taking into account the conflict interaction between traffic and pedestrian flows, traffic conditions and traffic trajectories before possible physical interaction the traffic flow graph takes such form which contains complete information about existing conflicts for the required intersection. As a result of the construction in accordance with theoretical aspects of a graph theory and actual interaction of transport and pedestrian flows at intersections, some regularities have been revealed that allow to estimate a danger of any particular intersection within the urban street-road network. The proposals can be identified as hazard markers of an object and that is especially topical with due account of available actual data on driving regimes, traffic light regulation, flow intensity and driving speed (especially single vehicles exceeding permissible driving speed for urban traffic or taking into account local restrictions on certain sections of street-road network) which form a vehicle or pedestrian graph. The proposed approaches can be used to assess quality of road traffic in conflict areas of the street-road network in cities and settlements and public roads as well.

Adaptive algorithms, which current traffic systems are based on, exist for many decades. Information technologies have developed significantly over this period and it makes more relevant their application in the field of transport. This paper analyses modern trends in the development of adaptive traffic flow control methods. Reviewed the most perspective directions in the field of intelligent transport systems, such as high-speed wireless communication between vehicles and road infrastructure based on such technologies as DSRC and WAVE, traffic jams prediction having such features as traffic flow information, congestion, velocity of vehicles using machine learning, fuzzy logic rules and genetic algorithms, application of driver assistance systems to increase vehicle’s autonomy. Advantages of such technologies in safety, efficiency and usability of transport are shown. Described multi-agent approach, which uses V2I-communication between vehicles and intersection controller to improve efficiency of control due to more complete traffic flow information and possibility to give orders to separate vehicles. Presented number of algorithms which use such approach to create new generation of adaptive transport systems.

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The importance of efficient traffic management problem grows every year. Constantly increasing number of vehicles and traffic volume requires improvement of methods and algorithms of traffic control. Such improvement becomes possible due to the spreading of global navigation and positioning systems, the development of wireless communication technologies and mobile internet, the advance in specialized technologies for interaction between vehicles and road infrastructure (V2I), the enhancement of machine learning models, computer vision algorithms, the emergence of driverless cars. This paper considers the novel approach to traffic management at intersection based on the use of V2I communication, describes general scheme of such approach and differences with conventional traffic light regulation. Developed algorithm of intersection management utilizes advantages of V2I communication to increase throughput of the intersection comparing to simple traffic light regulation and more advanced adaptive methods. The increase of throughput is achieved due to the dynamic construction of regulation phases which can be done because of more complete information about traffic flow. The comparence of various methods of regulation was performed in developed traffic simulation environment based on multi-agent approach.