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The combination of automated driving and Inter-Vehicle Communication (IVC) allows automated vehicles to drive cooperatively, thereby greatly enhancing their safety and traffic efficiency. Convoys are groups of automated vehicles which keep a multi-lane formation with decentralized control supported by IVC. The vehicle control algorithm of convoy vehicles requires up-to-date information about the neighbor...
Vehicle Routing Problem arises in real life applications when vehicles are routed to several locations to fulfill customer's requirements within specified constraints. A comprehensive study of recent works on Vehicle Routing Problem; mostly on Vehicle Routing Problem with Time Window is carried out based on their problem characteristics. Exact Methods, Heuristics, Meta Heuristics and Hybrid Methods...
In vehicular adhoc networks abbreviated as VANETS vehicles are furnished with radio devices which qualify them to interchange traffic information without the requirement of any kind of infrastructure [3-6]. However the understanding of vehicle headway distribution is crucial for evaluating the probable range of connectivity in these vehicle ad hoc networks. Several studies on dissemination of vehicles...
In this paper, we propose a reputation computation mechanism based on Hidden Markov Model (HMM) in VANET. The proposed model computes reputation value on the basis on received messages in VANET. Hence, VANET is characterized by high mobility and dynamic topology, where the vehicles exchange messages among them to enhance driving conditions. Due to hard delay constraints imposed by the need of small...
A major challenge in vehicular ad-hoc networks (VANETs) is the ability to account for resource sharing and location management so that multicasting/routing functions and bandwidth reservations can be organized efficiently. By creating clusters of vehicles we are able to control resource sharing and management functions in VANETs that are highly dynamic. In this paper, a D-hop clustering algorithm,...
This paper presents an optimal design of consensus for multi-agent systems with damping term using a directed spanning tree. Compared with the undirected connected topology, the choice of Lyapunov function can be more complicated. Concerning about the directed spanning tree, the consensus of multi-agent systems is guaranteed by analyzing the eigenstructure of the system matrix. Being different from...
This paper considers an approach to a centralized planning for AUV group operation using for search of local heterogeneities in given aquatic area. Supposed that common problem could be divided for set of tasks executed in parallel by different vehicles. It leads to decreasing of common mission execution time. A method and algorithms for planning of AUV group operations are described that consider...
This paper presents the comparison and analysis of four common path following algorithms for the C-Enduro unmanned surface vehicle (USV), which is designed to operate at sea for extended periods of time (up to 3 months). Four path following algorithms were tested that include Carrot chasing path following, Nonlinear guidance law, Pure pursuit and line-of-sight (PLOS) path following and Vector field...
The Cell Transmission Model for Urban Traffic (CTM-UT) is a macroscopic model with microscopic traffic elements for complex traffic dynamics of arterial and node. In this paper we presented the surrogate method (SM) to optimize the signal synchronization problem considering every turns in accord with the CMT-UT framework. Some extensions to improve the efficiency and efficacy of the surrogate method...
VANETs are the most important element in Intelligent Transportation System (ITS). The objective of this paper is to evaluate the performance of the existing Proactive Congestion Control Techniques and to bring out their features useful to the public VANET systems in different environments. In this paper, the performance analysis of static D-FPAV approach and dynamic D-FPAV approach is presented using...
Path restoring is a path searching problem in the time-dependent road network with the time constraints of origin and destination. This paper proposes a path restoring algorithm to find the possible path that vehicles may have been driving along. We mined the vehicle trajectories based on historical GPS data and then build a “popular” intersection graph based on its entropy and frequency. Then the...
Considering the sprawl of the cities, the conventional public transport (CPT) with fixed route and fixed schedule becomes less efficient and desirable every day. However, the emerging technologies in computation and communication are facilitating more adaptive types of public transport, such as Demand Responsive Transport (DRT) systems, which operate according to the demand. It is crucial to study...
Most existing path planning algorithms focus on generating piecewise linear functions, while the smoothness of the path is usually ignored. Route stability and energy saving are key issues for an autonomous underwater vehicle (AUV) working in the underwater environment. To ensure that AUV can pass through the target area steadily and safely, a path smoother is required. This paper puts forward a novel...
In this paper, we propose an intuitive graph coloring-based algorithm for Dynamic Spectrum Access (DSA) in Cognitive Radio-enabled Vehicular Ad Hoc Networks (CRVANETs). Besides, we thoroughly investigate the performance of our algorithm through numerical and discrete event simulation. For performance evaluation, we design and simulate singleradio multi-channel CR-VANETs to investigate the operational...
In design of guidance algorithm's wind is often ignored or only considered implicitly. Persistent winds has a very significant nonlinear effect on the guidance scheme as for small UAVs these disturbances can strongly affect their spatial orientation. This research work extends the idea of sliding mode control for parameter estimation of UAV nonlinear dynamics. The uncertain parameter estimation scheme...
The ubiquitous presence of smartphones provides a new platform on which to implement sensor networks for Intelligent Transport Systems (ITS) applications. Smartphone-based driving behavior monitoring has applications in the insurance industry, fleet management, driver training, and for law enforcement. In this paper we propose a Maximum Likelihood (ML) classifier to identify and classify the recklessness...
Given two sets of vertices V and W, where each vertex in V covers a subset of W, the multi-vehicle covering tour problem asks to determine a number of vehicle routes on a subset of V so as to minimize the total distance under the constraint that every vertex in W must be covered by vertices in the routes. We propose an iterated local search algorithm that features two procedures to improve solutions:...
In the recent past, several sampling-based algorithms have been proposed to compute trajectories that are collision-free and dynamically-feasible. However, the outputs of such algorithms are notoriously jagged. In this paper, by focusing on robots with car-like dynamics, we present a fast and simple heuristic algorithm, named Convex Elastic Smoothing (CES) algorithm, for trajectory smoothing and speed...
This paper, based on the concern that a large quantity of affected spots, relatively concentrated distribution and a small quantity of emergency materials in the affected area. It addresses an optimized mathematical model and presents a new optimal vehicle routing on emergency relief materials with the goals of the shortest transport time in emergency materials allocation. Firstly the K-means clustering...
Dynamic Traffic Routing System is an important intelligent transport system that is used to direct vehicles to good routes and consequently reduce congestion on the road network. The performance of dynamic routing system depends on a dynamic routing algorithm. AntNet algorithm is a routing algorithm inspired from the foraging behavior of ants. TAntNet is a family of dynamic routing algorithms that...
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