English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The coordination of highly automated vehicles (or agents) in roadintersections is an inherently nonconvex and challenging problem. In thispaper, we propose a distributed motion planning scheme under reasonablevehicle-to-vehicle communication requirements. Each agent solves a nonlinearmodel predictive control problem in real time and transmits its plannedtrajectory to other agents, which may have conflicting objectives. The problemformulation is augmented with conditional constraints that enable the agents todecide whether to wait at a stopping line, if safe crossing is not possible.The involved nonconvex problems are solved very efficiently using the proximalaveraged Newton method for optimal control (PANOC). We demonstrate theefficiency of the proposed approach in a realistic intersection crossingscenario.

Nonlinear Model Predictive Control for Distributed Motion Planning in Road Intersections Using PANOC