High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections
Name
921147049-MIT.pdf
Description
Full printable version
Size
7.09 MB
Format
Adobe PDF
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cafe9a0d996252bb202f95e8c495273f
Author(s)
Miculescu, David
Advisor(s)
Sertac Karaman.
Alternative Title
High performance and provably safe polling-systems-based control algorithms of autonomous intersections
Date Issued
2015
Publisher
Massachusetts Institute of Technology
Abstract
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.
Description
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).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
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.
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