{
  "id": "2104.06242",
  "version": "v1",
  "published": "2021-04-13T14:38:21.000Z",
  "updated": "2021-04-13T14:38:21.000Z",
  "title": "Decentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout",
  "authors": [
    "Kaiyuan Xu",
    "Christos G. Cassandras",
    "Wei Xiao"
  ],
  "categories": [
    "eess.SY",
    "cs.SY"
  ],
  "abstract": "The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing speed-dependent safety guarantees, as well as satisfying velocity and acceleration constraints. We first design a systematic approach to dynamically determine the safety constraints and derive the unconstrained optimal control solution. A joint optimal control and barrier function (OCBF) method is then applied to efficiently obtain a controller that optimally track the unconstrained optimal solution while guaranteeing all the constraints. Simulation experiments are performed to compare the optimal controller to a baseline of human-driven vehicles showing effectiveness under symmetric and asymmetric roundabout configurations, balanced and imbalanced traffic rates and different sequencing rules for CAVs.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2021-04-13T14:38:21.000Z"
    }
  ],
  "analyses": {
    "keywords": [
      "automated vehicles",
      "energy-optimal control",
      "decentralized time",
      "speed-dependent safety guarantees",
      "asymmetric roundabout configurations"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 0,
      "language": "en",
      "license": "arXiv",
      "status": "editable"
    }
  }
}