Cooperative receding horizon conflict resolution at traffic intersections

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

“…Interestingly, a great deal of the literature has focused on Phase 4, and several studies have considered cooperative strategies for intersection scenarios, though generally abstracting from the wireless communication and signal processing aspects. Decentralized approaches based on predictive control and reachability analysis [30], [31] and on navigation function controllers [32] have been considered. A somewhat different approach is taken in [33], where the dynamics are abstracted away and a number of protocols for distributed decision making are presented and compared.…”

Optimal and least restrictive supervisory control: Safety verification methods for human-driven vehicles at traffic intersections

“…Also, [10]- [14] proposed coordination strategies based on Model Predictive Control (MPC). In particular, [10] exploits the structure of a centralized, finite-time optimal problem to propose an approximate solution, while [11], [12] considered a fully decentralized approach based on sub-optimal decision-making heuristics.…”

Convex modeling of conflict resolution at traffic intersections

“…For instance, the authors of [13] exploit the structure of a centralized, finite time optimal control problem, in order to propose an approximate solution, while [14] considered a fully decentralized solution based on sub-optimal decisionmaking heuristics, using the concept of decision sequence. This results were later extended in [15], where a low complexity receding horizon control framework is described. It is worth mentioning that collision avoidance has also been approached from a safety verification point of view, where the driver is overridden in case safety is compromised.…”

“…Using a rulebased approach, several works approached the coordination problem based on the multi-agent systems paradigm [7], [8], [9], [10]. Others, instead, used Model Predictive Control (MPC) coordination strategies [11], [12], [13], [14], [15]. For instance, the authors of [13] exploit the structure of a centralized, finite time optimal control problem, in order to propose an approximate solution, while [14] considered a fully decentralized solution based on sub-optimal decisionmaking heuristics, using the concept of decision sequence.…”