scholarly journals Canonical instabilities of autonomous vehicle systems

2016 ◽  
Author(s):  
Rodrick Wallace
Keyword(s):  
Traffic Control ◽  
Large Scale ◽  
Autonomous Vehicle ◽  
Power Network ◽  
Ground Vehicles ◽  
The Road ◽  
Control Information ◽  
Formal Argument ◽  
Vehicle Systems ◽  
And Control

Formal argument suggests that command, communication and control systems can remain stable in the sense of the Data Rate Theorem that mandates the minimum rate of control information required to stabilize inherently unstable 'plants', but may nonetheless, under fog-of-war demands, collapse into dysfunctional modes at variance with their fundamental mission. We apply the theory to autonomous ground vehicles under intelligent traffic control in which swarms of interacting, self-driving devices are inherently unstable as a consequence of the basic irregularity of the road network. It appears that such 'V2V/V2I' systems will experience large-scale failures analogous to the vast propagating fronts of power network blackouts, and possibly less benign, but more subtle patterns of `psychopathology' at various scales.

scholarly journals Canonical instabilities of autonomous vehicle systems

2016 ◽  
Author(s):  
Rodrick Wallace
Keyword(s):  
Traffic Control ◽  
Large Scale ◽  
Autonomous Vehicle ◽  
Power Network ◽  
Ground Vehicles ◽  
The Road ◽  
Control Information ◽  
Formal Argument ◽  
Vehicle Systems ◽  
And Control

Formal argument suggests that command, communication and control systems can remain stable in the sense of the Data Rate Theorem that mandates the minimum rate of control information required to stabilize inherently unstable 'plants', but may nonetheless, under fog-of-war demands, collapse into dysfunctional modes at variance with their fundamental mission. We apply the theory to autonomous ground vehicles under intelligent traffic control in which swarms of interacting, self-driving devices are inherently unstable as a consequence of the basic irregularity of the road network. It appears that such 'V2V/V2I' systems will experience large-scale failures analogous to the vast propagating fronts of power network blackouts, and possibly less benign, but more subtle patterns of `psychopathology' at various scales.

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

2018 ◽  
Author(s):  
Ryan P. Shaw ◽  
David M. Bevly
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Vehicle ◽  
Integrated System ◽  
Reference Trajectory ◽  
Ground Vehicles ◽  
Proportional Navigation ◽  
Predictive Controller ◽  
Proportional Navigation Law ◽  
Vehicle Dynamic Model ◽  
And Control

This paper presents a new approach for the guidance and control of a UGV (Unmanned Ground Vehicle). An obstacle avoidance algorithm was developed using an integrated system involving proportional navigation (PN) and a nonlinear model predictive controller (NMPC). An obstacle avoidance variant of the classical proportional navigation law generates command lateral accelerations to avoid obstacles, while the NMPC is used to track the reference trajectory given by the PN. The NMPC utilizes a lateral vehicle dynamic model. Obstacle avoidance has become a popular area of research for both unmanned aerial vehicles and unmanned ground vehicles. In this application an obstacle avoidance algorithm can take over the control of a vehicle until the obstacle is no longer a threat. The performance of the obstacle avoidance algorithm is evaluated through simulation. Simulation results show a promising approach to conditionally implemented obstacle avoidance.

scholarly journals Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey

Robotics ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 67 ◽  
Author(s):  
Aakash Soni ◽  
Huosheng Hu
Keyword(s):  
Autonomous Vehicles ◽  
Formation Control ◽  
State Of The Art ◽  
Autonomous Vehicle ◽  
Ground Vehicles ◽  
Implementation Challenges ◽  
Autonomous Ground Vehicles ◽  
Vehicle Platooning ◽  
And Control

Autonomous/unmanned driving is the major state-of-the-art step that has a potential to fundamentally transform the mobility of individuals and goods. At present, most of the developments target standalone autonomous vehicles, which can sense the surroundings and control the vehicle based on this perception, with limited or no driver intervention. This paper focuses on the next step in autonomous vehicle research, which is the collaboration between autonomous vehicles, mainly vehicle formation control or vehicle platooning. To gain a deeper understanding in this area, a large number of the existing published papers have been reviewed systemically. In other words, many distributed and decentralized approaches of vehicle formation control are studied and their implementations are discussed. Finally, both technical and implementation challenges for formation control are summarized.

UK Airspace Planning – The New ICAO Airspace Classification System

1993 ◽  
Vol 46 (3) ◽  
pp. 336-342
Author(s):  
W. J. V. Walker
Keyword(s):  
Traffic Control ◽  
Classification System ◽  
Air Traffic Control ◽  
Large Scale ◽  
Ground Level ◽  
Air Traffic ◽  
Commercial Aviation ◽  
The World ◽  
And Control

Since the advent of large-scale commercial aviation in the mid 1940s, a system of routes has been developed between airports serving the major conurbations of the world. To prevent collision between aircraft using these routes and off-route traffic, protection is provided to the routes and to the vicinity of airports by means of controlled airspace, airways (AWYS), control areas (CTAS) and control zones (CTRS). Zones commence at ground level and the base an area is at a defined altitude. Inside this controlled airspace certain rules apply which are more stringent than those applied outside, and all movements are subject to Air Traffic Control (ATC).

scholarly journals Space Invaders: Pedestrian Proxemic Utility Functions and Trust Zones for Autonomous Vehicle Interactions

2020 ◽  
Author(s):  
Fanta Camara ◽  
Charles Fox
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Utility Functions ◽  
Hyperbolic Function ◽  
The Road ◽  
Definition Of ◽  
Public Datasets ◽  
Discrete Theory ◽  
And Control ◽  
Road Crossing

AbstractUnderstanding pedestrian proxemic utility and trust will help autonomous vehicles to plan and control interactions with pedestrians more safely and efficiently. When pedestrians cross the road in front of human-driven vehicles, the two agents use knowledge of each other’s preferences to negotiate and to determine who will yield to the other. Autonomous vehicles will require similar understandings, but previous work has shown a need for them to be provided in the form of continuous proxemic utility functions, which are not available from previous proxemics studies based on Hall’s discrete zones. To fill this gap, a new Bayesian method to infer continuous pedestrian proxemic utility functions is proposed, and related to a new definition of ‘physical trust requirement’ (PTR) for road-crossing scenarios. The method is validated on simulation data then its parameters are inferred empirically from two public datasets. Results show that pedestrian proxemic utility is best described by a hyperbolic function, and that trust by the pedestrian is required in a discrete ‘trust zone’ which emerges naturally from simple physics. The PTR concept is then shown to be capable of generating and explaining the empirically observed zone sizes of Hall’s discrete theory of proxemics.

Traffic Demand Forecast and Control in Large-Scale Activities

2012 ◽  
Vol 209-211 ◽  
pp. 998-1003
Author(s):  
Liang Zhi Zhang ◽  
Lei Jia ◽  
Mei Xia Wang
Keyword(s):  
Traffic Control ◽  
Large Scale ◽  
Control Measures ◽  
Traffic Load ◽  
Demand Forecast ◽  
Traffic Demand ◽  
The Road ◽  
Traffic Forecasting ◽  
Before And After ◽  
The Impact

In order to alleviate traffic load during large-scale activities held in cities, the concepts of traffic planning is applied in this paper. To forecast traffic demand of large-scale activities, the traditional four-stage method is imposed. Traffic forecasting model is set up in simulation tool TransCAD, and then traffic loads are gained in road around large-scale activities. Based on the result of simulate, appropriate measures are taken and re-assignment is implemented. By comparing simulation results between before and after the implementation of traffic control measures, the impact of large-scale activities to the road network and effectiveness of control measures are verified in the paper.

Design of the Integrated and Remote Control Information System for Multi-Wind Power Plants

2014 ◽  
Vol 536-537 ◽  
pp. 1284-1287
Author(s):  
Wen Zhuo Wang ◽  
Yang Xue ◽  
Bo Jiao
Keyword(s):  
Information System ◽  
Remote Control ◽  
Wind Power ◽  
Power Plants ◽  
Large Scale ◽  
Integrated Control ◽  
Monitoring And Control ◽  
Control Information ◽  
Wind Power Plants ◽  
And Control

Recently, China has become the country who has the largest and fastest-growing wind power across the world. The large-scale of wind power ask for higher requirements in the fields of Wind Power Plant (WPP) Monitoring and Control. In order to achieve that, the integrated and remote control information system for multi-WPPs is proposed in this paper. To meet the need of technical regulation for connecting WPP to power grid and improve the efficiency of WPP’s management, a framework for this integrated and remote control information system is designed, and some tentative ideas for implementing the integrated control are put forward.

Intelligent traffic control for autonomous vehicle systems based on machine learning

2020 ◽  
Vol 144 ◽  
pp. 113074 ◽  
Author(s):  
Sangmin Lee ◽  
Younghoon Kim ◽  
Hyungu Kahng ◽  
Soon-Kyo Lee ◽  
Seokhyun Chung ◽  
...  
Keyword(s):  
Machine Learning ◽  
Traffic Control ◽  
Autonomous Vehicle ◽  
Vehicle Systems

Analysis and Control on Oscillation Characteristics of Smart Grid with Large-Scale Wind Power Integration

2013 ◽  
Vol 732-733 ◽  
pp. 1342-1347
Author(s):  
Jia Chen Zhong ◽  
Wen Ying Liu ◽  
Wei Zheng
Keyword(s):  
Wind Power ◽  
Large Scale ◽  
Damping Ratio ◽  
Low Frequency ◽  
Power Network ◽  
Frequency Oscillation ◽  
Low Frequency Oscillation ◽  
Wind Power Integration ◽  
And Control ◽  
Oscillation Characteristics

To deal with the problem of large-scale wind power integration and its influence on low frequency oscillation characteristics of Gansu power network, this paper built the low frequency oscillation simulation model with large amount of wind power integration, and proposed an index, namely grid structural weakness degree, based on the damping ratio index, to investigate low frequency oscillation characteristics. The simulation shows that the damping ratio decreases as the wind turbine output increases; and when the damping ratio is lower than 3%, or weakness degree lower than 4, it is more likely to cause low frequency oscillation in Gansu power network, and early-warning should be taken. The analysis provides a reference for low frequency oscillation early-warning and control.

scholarly journals Research on the Design and Application of Sports Competition Ticketing Platform Based on Edge Computing

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Wenfeng Dai ◽  
Jiajia Shao ◽  
Xiuli Zhang
Keyword(s):  
Large Scale ◽  
Financial Risks ◽  
Ticket Sales ◽  
Sports Industry ◽  
Material Resources ◽  
Control Information ◽  
Sports Events ◽  
The Times ◽  
Ticket Purchase ◽  
And Control

Nowadays, under the encouragement of national and sports competition related policies, sports industry is gradually rising. In this case, how to provide ticketing services conveniently, quickly, and accurately for sports spectators all over the country and the world and how to keep up with the times and improve traditional ticketing services are two major problems that need to be solved urgently by those who are in charge of sports events. When investigating the current traditional ticketing platform for sports competitions, it is not difficult to find that most ticketing services rely heavily on manual services. From ticket purchase to ticket checking, consumers have poor experience, there is a lot of waste of manpower and material resources, and scalpers easily sell high-priced tickets. In addition, the traditional ticket sales mode still uses old-fashioned paper tickets or cards, which are difficult to preserve, making it difficult to prevent counterfeiting and use and control information statistics. Data confusion leads to financial risks. The “paralysis” of the ticketing system of many large-scale sports competitions, especially super-large sports competitions, just proves the importance and necessity of reforming ticketing platform of sports competitions in order to keep pace with development. This paper will study a large-scale (or super-large), flexible, efficient, and excellent performance, which can meet the burst peak access requirements of sports competition ticketing platform. We will first consider the overall demand of the sports competition ticketing market, then make a general analysis according to the demand, design a sports competition ticketing platform that can effectively serve large-scale or super-large sports competitions, and raise and solve the problems encountered when building the platform.

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