| 1. |
- Steinmetz, Erik, et al.
(författare)
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Collision-Aware Communication for Intersection Management of Automated Vehicles
- 2018
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Ingår i: IEEE Access. - 2169-3536. ; 6, s. 77359-77371
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Tidskriftsartikel (refereegranskat)abstract
- Intersection management of automated vehicles relies on wireless communication, whereby communication resources should be allocated to vehicles while maintaining safety. We present a collision-aware resource allocation (CARA) strategy for coordination of automated and connected vehicles by a centralized intersection manager. The proposed strategy is based on a self-triggered approach and proactively reduces the risk of channel congestion by only assigning communication resources to vehicles that are in critical configurations, i.e., when there is a risk for a future collision. Compared with collision-agnostic communication strategies, typically considered for automated intersection management, the CARA strategy aims to bridge the gap between control, sensing, and communication. It is shown to significantly reduce the required amount of communication (albeit with a slight increase in the control cost), without compromising safety. Furthermore, control cost can be reduced by allowing more frequent communication, which we demonstrate through a trade-off analysis between control performance and communication load. Hence, CARA can operate in communication-limited scenarios, but also be modified for scenarios where the control cost is of primary interest.
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| 2. |
- Talebi Mazraeh Shahi, Mohammad Sadegh, 1982-, et al.
(författare)
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Stochastic Online Shortest Path Routing : The Value of Feedback
- 2018
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Ingår i: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 63:4, s. 915-930
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Tidskriftsartikel (refereegranskat)abstract
- This paper studies online shortest path routing over multihop networks. Link costs or delays are time varying and modeled by independent and identically distributed random processes, whose parameters are initially unknown. The parameters, and hence the optimal path, can only be estimated by routing packets through the network and observing the realized delays. Our aim is to find a routing policy that minimizes the regret (the cumulative difference of expected delay) between the path chosen by the policy and the unknown optimal path. We formulate the problem as a combinatorial bandit optimization problem and consider several scenarios that differ in where routing decisions are made and in the information available when making the decisions. For each scenario, we derive a tight asymptotic lower bound on the regret that has to be satisfied by any online routing policy. Three algorithms, with a tradeoff between computational complexity and performance, are proposed. The regret upper bounds of these algorithms improve over those of the existing algorithms. We also assess numerically the performance of the proposed algorithms and compare it to that of existing algorithms.
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