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Fusco, M. (author), Semsar-Kazerooni, E. (author), Zegers, J.C. (author), Ploeg, J. (author)In this paper, a method to model the decision making system of Connected and Automated Vehicles (CAVs) is discussed. The method is based on an algebra different from the conventional, the so-called Max-Plus algebra. First, a literature-review on the application of Max-Plus algebra in different sectors is presented. Then, the Max-Plus linear...conference paper 2019
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Acciani, F. (author), Frasca, P. (author), Stoorvogel, A. (author), Semsar-Kazerooni, E. (author), Heijenk, G. (author)Cooperative Adaptive Cruise Control (CACC) is nowadays a promising technique to increase highway through-put, safety and comfort for vehicles. Enabled by wireless communication, CACC allows a platoon of vehicles to achieve better performance than Adaptive Cruise Control; however, since wireless is employed, problems related to unreliability...conference paper 2018
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Ligthart, J. (author), Semsar-Kazerooni, E. (author), Ploeg, J. (author), Alirezaei, M. (author), Nijmeijer, H. (author)A shortcoming of many Cooperative Adaptive Cruise Control (CACC) schemes is the lack of a guarantee of safe vehicle behavior in a platoon, i.e., making sure that a vehicle does not collide with its preceding vehicle in case the latter performs a deceleration outside the operational range of the CACC system. To overcome that problem, this paper...conference paper 2018
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Ligthart, J.A.J. (author), Ploeg, J. (author), Semsar-Kazerooni, E. (author), Fusco, M. (author), Nijmeijer, H. (author)Stability and string stability of platoons equipped with Cooperative Adaptive Cruise Control (CACC) is widely discussed in literature. However, safe behavior of a vehicle in a platoon, i.e., making sure that a vehicle is not involved in a collision with its preceding vehicle, is not considered to a large extent. This paper exploits techniques...article 2018
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- Ligthart, J. (author), Ploeg, J. (author), Semsar Kazerooni, E. (author), Fusco, M. (author), Nijmeijer, H. (author) conference paper 2018
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van Nunen, E. (author), Verhaegh, J. (author), Silvas, E. (author), Semsar-Kazerooni, E. (author), van de Wouw, N. (author)To improve traffic throughput, Cooperative Adaptive Cruise Control (CACC) has been proposed as a solution. The usage of Vehicle-to-Vehicle (V2V) communication enables short following distances, thereby increasing road capacity and fuel reduction (especially for trucks). Control designs for CACC use the wirelessly communicated intended...conference paper 2018
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Zegers, J.C. (author), Semsar Kazerooni, E. (author), Fusco, M. (author), Ploeg, J. (author)This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of...conference paper 2017
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Semsar-Kazerooni, E. (author), Elferink, K. (author), Ploeg, J. (author), Nijmeijer, H. (author)Nowadays, there is an increasing societal demand for smart mobility solutions which can increase the throughput, comfort, and safety of driving on a road. As one of these solutions, vehicle following technologies like cooperative adaptive cruise control (CACC) are introduced. with the help of vehicle-to-vehicle (V2V) communication, CACC can...article 2017
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Morales Medina, A.I. (author), de Jongh, J.F.C.M. (author), van de Sluis, J. (author), Voronov, A. (author), Englund, C. (author), Bril, R.J. (author), Salunkhe, H. (author), Arrúe, A. (author), Ruano, A. (author), García-Sol, L. (author), van Nunen, E. (author), van de Wouw, N. (author)Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture,...article 2017
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Zegers, J.C. (author), Semsar Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)In this paper, a distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing policy between two consecutive vehicles is realized. As a particular case, the approach allows to consider...article 2017
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Fusco, M. (author), Semsar Kazerooni, E. (author), Zegers, J.C. (author), Ploeg, J. (author)In this paper, non-linear estimators and feedforward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part,...conference paper 2017
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Goos, J. (author), Alirezaei, M. (author), Semsar-Kazerooni, E. (author), Ploeg, J. (author)In this paper, an obstacle avoidance controller (OA) based on the impedance control method is developed. The main goal of the OA controller is to guarantee robust gap making for a merging vehicle within a platoon of vehicles which are longitudinally automated. The proposed OA controller is developed in a simulation environment and later...conference paper 2016
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Zegers, J.C. (author), Semsar-Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author), Nijmeijer, H. (author)In this paper, a novel distributed consensus control approach for vehicular platooning systems is proposed. In formalizing the underlying consensus problem, a realistic vehicle dynamics model is considered and a velocity-dependent spacing-policy between two consecutive vehicles is realized. For a generic communication topology, conditions for...conference paper 2016
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Englund, C. (author), Chen, L. (author), Ploeg, J. (author), Semsar-Kazerooni, E. (author), Voronov, A. (author), Bengtsson, H.H. (author), Didoff, J. (author)The Grand Cooperative Driving Challenge (GCDC), with the aim to boost the introduction of cooperative automated vehicles by means of wireless communication, is presented. Experiences from the previous edition of GCDC, which was held in Helmond in the Netherlands in 2011, are summarized, and an overview and expectations of the challenges in the...article 2016
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Fusco, M. (author), Semsar Kazerooni, E. (author), Ploeg, J. (author), van de Wouw, N. (author)In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider thirdorder systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing...conference paper 2016
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Semsar-Kazerooni, E. (author), Verhaegh, J. (author), Ploeg, J. (author), Alirezaei, M. (author)In this paper, in addition to the main functionality of vehicle following, cooperative adaptive cruise control (CACC) is enabled with additional features of gap closing and collision avoidance. Due to its nonlinear nature, a control objective such as collision avoidance, cannot be addressed using a linear controller such as a PD controller....conference paper 2016
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Lijster, G. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Cooperative adaptive cruise control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as latency and packet loss. In the latter case, it would...article 2015
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Semsar Kazerooni, E. (author), Ploeg, J. (author)This paper presents the interaction protocols developed for execution of two common scenarios in daily traffic using cooperative automated vehicles. The first proposed scenario addresses merging of a (semi-)automated car on a highway within a platoon of (semi-)automated vehicles. The second scenario is an extension of the first scenario with a...conference paper 2015
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Ploeg, J. (author), Semsar-Kazerooni, E. (author), Lijster, G. (author), van de Wouw, N. (author), Nijmeijer, H. (author)Cooperative Adaptive Cruise Control (CACC) employs wireless intervehicle communication, in addition to onboard sensors, to obtain string-stable vehicle-following behavior at small intervehicle distances. As a consequence, however, CACC is vulnerable to communication impairments such as packet loss, in which case it would effectively degrade to...conference paper 2013
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Semsar-Kazerooni, E. (author), Ploeg, J. (author)The current paper shows string stability of a platoon of vehicles when the spacing policy within the platoon is dynamic, i.e., it has time-varying parameters. This problem setup is to address the safety issues that arise due to malfunction of some redundant sensing/communicating devices installed on the vehicles. In such a faulty situation, the...conference paper 2013