dc.contributor.author | Ahn, Heejin | |
dc.contributor.author | Colombo, Alessandro | |
dc.contributor.author | Del Vecchio, Domitilla | |
dc.date.accessioned | 2015-06-15T15:44:11Z | |
dc.date.available | 2015-06-15T15:44:11Z | |
dc.date.issued | 2014-06 | |
dc.identifier.isbn | 978-1-4799-3274-0 | |
dc.identifier.isbn | 978-1-4799-3272-6 | |
dc.identifier.isbn | 978-1-4799-3271-9 | |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/1721.1/97413 | |
dc.description.abstract | This paper describes the design of a supervisory controller (supervisor) that manages controlled vehicles to avoid intersection collisions in the presence of uncontrolled vehicles. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the inputs of controlled vehicles. For the verification problem, we employ an inserted idle-time scheduling approach, where the “inserted idle-time” is a time interval when the intersection is deliberately held idle for uncontrolled vehicles to safely cross the intersection. For the management problem, we design a supervisor that is least restrictive in the sense that it overrides controlled vehicles only when a safety violation becomes imminent. We analyze computational complexity and propose an efficient version of the supervisor with a quantified approximation bound. | en_US |
dc.description.sponsorship | National Science Foundation (U.S.) (Award 1239182) | en_US |
dc.language.iso | en_US | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.isversionof | http://dx.doi.org/10.1109/ACC.2014.6859163 | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | MIT web domain | en_US |
dc.title | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles | en_US |
dc.type | Article | en_US |
dc.identifier.citation | Ahn, Heejin, Alessandro Colombo, and Domitilla Del Vecchio. “Supervisory Control for Intersection Collision Avoidance in the Presence of Uncontrolled Vehicles.” 2014 American Control Conference (June 2014). | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | en_US |
dc.contributor.mitauthor | Ahn, Heejin | en_US |
dc.contributor.mitauthor | Del Vecchio, Domitilla | en_US |
dc.relation.journal | Proceedings of the 2014 American Control Conference | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/JournalArticle | en_US |
eprint.status | http://purl.org/eprint/status/PeerReviewed | en_US |
dspace.orderedauthors | Ahn, Heejin; Colombo, Alessandro; Del Vecchio, Domitilla | en_US |
dc.identifier.orcid | https://orcid.org/0000-0001-6472-8576 | |
dc.identifier.orcid | https://orcid.org/0000-0001-9153-3491 | |
mit.license | OPEN_ACCESS_POLICY | en_US |
mit.metadata.status | Complete | |