7 research outputs found
The Green Choice: Learning and Influencing Human Decisions on Shared Roads
Autonomous vehicles have the potential to increase the capacity of roads via
platooning, even when human drivers and autonomous vehicles share roads.
However, when users of a road network choose their routes selfishly, the
resulting traffic configuration may be very inefficient. Because of this, we
consider how to influence human decisions so as to decrease congestion on these
roads. We consider a network of parallel roads with two modes of
transportation: (i) human drivers who will choose the quickest route available
to them, and (ii) ride hailing service which provides an array of autonomous
vehicle ride options, each with different prices, to users. In this work, we
seek to design these prices so that when autonomous service users choose from
these options and human drivers selfishly choose their resulting routes, road
usage is maximized and transit delay is minimized. To do so, we formalize a
model of how autonomous service users make choices between routes with
different price/delay values. Developing a preference-based algorithm to learn
the preferences of the users, and using a vehicle flow model related to the
Fundamental Diagram of Traffic, we formulate a planning optimization to
maximize a social objective and demonstrate the benefit of the proposed routing
and learning scheme.Comment: Submitted to CDC 201
Formal methods for resilient control
Many systems operate in uncertain, possibly adversarial environments, and their successful operation is contingent upon satisfying specific requirements, optimal performance, and ability to recover from unexpected situations. Examples are prevalent in many engineering disciplines such as transportation, robotics, energy, and biological systems. This thesis studies designing correct, resilient, and optimal controllers for discrete-time complex systems from elaborate, possibly vague, specifications.
The first part of the contributions of this thesis is a framework for optimal control of non-deterministic hybrid systems from specifications described by signal temporal logic (STL), which can express a broad spectrum of interesting properties. The method is optimization-based and has several advantages over the existing techniques. When satisfying the specification is impossible, the degree of violation - characterized by STL quantitative semantics - is minimized. The computational limitations are discussed.
The focus of second part is on specific types of systems and specifications for which controllers are synthesized efficiently. A class of monotone systems is introduced for which formal synthesis is scalable and almost complete. It is shown that hybrid macroscopic traffic models fall into this class. Novel techniques in modular verification and synthesis are employed for distributed optimal control, and their usefulness is shown for large-scale traffic management. Apart from monotone systems, a method is introduced for robust constrained control of networked linear systems with communication constraints. Case studies on longitudinal control of vehicular platoons are presented.
The third part is about learning-based control with formal guarantees. Two approaches are studied. First, a formal perspective on adaptive control is provided in which the model is represented by a parametric transition system, and the specification is captured by an automaton. A correct-by-construction framework is developed such that the controller infers the actual parameters and plans accordingly for all possible future transitions and inferences. The second approach is based on hybrid model identification using input-output data. By assuming some limited knowledge of the range of system behaviors, theoretical performance guarantees are provided on implementing the controller designed for the identified model on the original unknown system
Localization of disturbances in transportation systems
We present a control strategy for localization and attenuation of disturbances in transportation systems. Sudden and large disturbances in a transportation network can lead to the creation and propagation of shock waves which spread throughout the system causing jams and decreasing system throughput. By considering the Cell Transmission Model of traffic flow, we design a minimum-energy controller that exploits inter-vehicle communication to localize shock waves to small sections of the highway and attenuate them within a specified period of time. The control design is illustrated through simulations on realistic data from the I-210 highway in California
Localization of disturbances in transportation systems
We present a control strategy for localization and attenuation of disturbances in transportation systems. Sudden and large disturbances in a transportation network can lead to the creation and propagation of shock waves which spread throughout the system causing jams and decreasing system throughput. By considering the Cell Transmission Model of traffic flow, we design a minimum-energy controller that exploits inter-vehicle communication to localize shock waves to small sections of the highway and attenuate them within a specified period of time. The control design is illustrated through simulations on realistic data from the I-210 highway in California