Scipediacontent: Scipediacontent moved page Draft Content 517022547 to Altche Fortelle 2016a

2021-02-03T19:23:47Z

Scipediacontent moved page Draft Content 517022547 to Altche Fortelle 2016a

Scipediacontent: Created page with " == Abstract == International audience; The deployment of Cooperative Intelligent Transportation Systems (C-ITS) raises the question of future traffic management systems, whi..."

2021-02-03T19:23:44Z

Created page with " == Abstract == International audience; The deployment of Cooperative Intelligent Transportation Systems (C-ITS) raises the question of future traffic management systems, whi..."

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== Abstract ==

International audience; The deployment of Cooperative Intelligent Transportation Systems (C-ITS) raises the question of future traffic management systems, which will be operating with an increasing amount of information and control over the infrastructure and the vehicles. This topic of research shares some similarities with robot coordination problems, inspiring our research on autonomous intersection management. In this article, we use a mixed-integer linear programming formulation for time-optimal robots coordination along specified paths and apply it to intersection management for autonomous vehicles. Our formulation allows to simultaneously solve a discrete optimal vehicle ordering problem, and a (discretized) continuous optimal velocity planning problem taking into account kinodynamics constraints. This allows faster pruning of the decision tree for the discrete problem, thus reducing computation time. A possible application for ITS is to evaluate the efficiency loss from a given vehicle ordering policy, or dynamically adapt policies to improve their efficiency. Moreover, any intermediary solution found by the solver can be used as a heuristically good policy, with proved bounds on sub-optimality.

== Original document ==

The different versions of the original document can be found in:

* [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/file/MILP_IV_final.pdf https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/file/MILP_IV_final.pdf]

* [http://xplorestaging.ieee.org/ielx7/7527552/7535353/07535369.pdf?arnumber=7535369 http://xplorestaging.ieee.org/ielx7/7527552/7535353/07535369.pdf?arnumber=7535369],
: [http://dx.doi.org/10.1109/ivs.2016.7535369 http://dx.doi.org/10.1109/ivs.2016.7535369]

* [https://dblp.uni-trier.de/db/conf/ivs/ivs2016.html#AltcheF16 https://dblp.uni-trier.de/db/conf/ivs/ivs2016.html#AltcheF16],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275 https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275],
: [https://ieeexplore.ieee.org/document/7535369 https://ieeexplore.ieee.org/document/7535369],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/document],
: [https://academic.microsoft.com/#/detail/2510875290 https://academic.microsoft.com/#/detail/2510875290]

* [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275 https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/document],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/file/MILP_IV_final.pdf https://hal-mines-paristech.archives-ouvertes.fr/hal-01348275/file/MILP_IV_final.pdf]

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Altche Fortelle 2016a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 517022547 to Altche Fortelle 2016a

Scipediacontent: Created page with " == Abstract == International audience; The deployment of Cooperative Intelligent Transportation Systems (C-ITS) raises the question of future traffic management systems, whi..."