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Cruise controllers for lane-free ring-roads based on control Lyapunov functions

Theodosis Dionysios, Karafyllis Iason, Papageorgiou Markos

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Year 2023
Type of Item Peer-Reviewed Journal Publication
Bibliographic Citation D. Theodosis, I. Karafyllis, and M. Papageorgiou, “Cruise controllers for lane-free ring-roads based on control Lyapunov functions,” J. Franklin Inst., 2023, doi: 10.1016/j.jfranklin.2023.02.003.
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The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on a Control Lyapunov Function methodology with the Lyapunov function expressed on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road. A detailed analysis of the differences and similarities between lane-free straight-roads and lane-free ring-roads is also presented.

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