High performance and provably safe polling-systems-based control algorithms of all-autonomous intersections

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Aeronautics and Astronautics.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2015

Author dc:creator

• Miculescu, David

Advisor dc:contributor.advisor

• Sertac Karaman.

• Aeronautics and Astronautics.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/98809

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/98809