@proceedings {449,
	title = {Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller},
	volume = {57},
	year = {2018},
	publisher = {IEEE},
	address = {Fontainbleau, Miami Beach, USA},
	abstract = {<p>This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic\&nbsp;band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with\&nbsp;the lead vehicle. By assuming that the lead vehicle{\textquoteright}s velocity will be oscillatory, the controller{\textquoteright}s smooth transition between\&nbsp;modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the\&nbsp;dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles\&nbsp;are presented. Analysis shows that\&nbsp;the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.\&nbsp;</p>
},
	keywords = {autonomous vehicles, CPS, Traffic},
	doi = {10.1109/CDC.2018.8619700},
	url = {https://ieeexplore.ieee.org/document/8619700},
	author = {Rahul Bhadani and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work}
}
@article {272,
	title = {Dissipation of stop-and-go waves via control of autonomous vehicles: Field experiments},
	journal = {Transportation Research Part C},
	volume = {89},
	year = {2018},
	month = {04/2018},
	type = {Journal},
	chapter = {205-221},
	keywords = {autonomous vehicles, cyber physical systems},
	doi = {10.1016/j.trc.2018.02.005},
	author = {Raphael E Stern and Shumo Cui and Maria Laura Dell Monache and Rahul Bhadani and Matthew Bunting and Miles Churchill and Nathaniel Hamilton and Hannah Pohlmann and Fangyu Wu and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel B. Work}
}
@conference {469,
	title = {A Fuzzy based approach to Dampen Emergent Traffic Waves},
	booktitle = {CAT Vehicle Research Experience for Undergraduates},
	year = {2017},
	month = {01/2017},
	publisher = {CAT Vehicle Research Experience for Undergraduates},
	organization = {CAT Vehicle Research Experience for Undergraduates},
	address = {The University of Arizona},
	abstract = {<p>Adaptive Cruise Control (ACC) and Traffic Aware Cruise Control (TACC) are recent advancements in cruise control design that allow a semi-autonomous vehicle to slow itself when approaching vehicles. The issue with these technologies is that they focus on keeping the distance from a leading vehicle constant. This may lead to unwanted dynamics in the following traffic flow, could result in the creation of traveling waves. \&nbsp;This paper focuses on maintaining a reference velocity based on the relative position of the preceding vehicle instead of slowing down to maintain a certain following distance. Doing so could reduce the amount of braking the vehicles behind the autonomous vehicle will do. With this kind of technology implemented, the number and duration of traffic jams could be greatly reduced. Simulation results and tests run on the University of Arizona{\textquoteright}s Cognitive Autonomous Test (CAT) Vehicle illustrate the feasibility and success of this new controller.</p>
},
	keywords = {Autonomous Systems, Control System},
	author = {R{\textquoteright}mani Haulcy and Nathaniel Hamilton and Rahul Bhadani and Jonathan Sprinkle and Daniel B. Work and Nathalie Risso and Benedetto Piccoli and Maria Laura Dell Monache and Benjamin Seibold}
}
