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Planning and Control of Connected Automated Vehicles Subjected to Sensor Failure/Attack

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Intelligent Sensors".

Deadline for manuscript submissions: closed (1 July 2022) | Viewed by 2967

Special Issue Editors

Department of Mechanical Engineering, University of Alaska Fairbanks, Fairbanks, AK 99775, USA
Interests: decision-making; motion planning and control of connected and autonomous vehicles; unmanned vehicles and mobile robots
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
School of Mechanical, Aerospace and Automotive Engineering, Coventry University, Coventry CV1 5FB, UK
Interests: autonomous vehicles; controls, mechatronics; terramechanics

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Guest Editor
Department of Mechanical and Construction Engineering, Northumbria University, Newcastle upon Tyne NE1 8ST, UK
Interests: intelligent vehicles; decision making and control
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Connected automated vehicles (CAVs) have been attracting vigorous attention due to the rapid developments of sensing technology, computing capacity, networking, and communication technologies. Reliable onboard sensors and rapid communications are essential for sharing sensing information and, hence, overall performance and security optimization in CAVs. Through vehicle-to-vehicle (V2V) communication, both human-driven vehicles (HDVs) and CAVs can actively exchange data. However, multiple sensors and advanced communication features are vulnerable to failures (e.g, GPS signal might be not available in certain terrains or scenes). The sensor and cybersecurity issues are also critical due to the severe consequences (collisions/crashes) during autonomous driving in mixed traffic that could be caused by attacks, as an attacker can manipulate the sensing/communication process or even physically control the CAVs. Topics include (but are not limited to) the following:

  • Fault diagnosis and detection for sensing
  • Sensor fusion in failure/attack condition
  • Sensor fusion for vehicle and intelligent infrastructure cooperation
  • Fault-tolerant planning and control
  • Planning and control in GPS-denied condition
  • Detection/estimation of cyber attacks
  • Attack-resilient planning and control
  • Network control systems
  • Event-trigger control
  • Machine learning applications

Prof. Dr. Chuan Hu
Prof. Dr. Hamid Taghavifar
Dr. Chongfeng Wei
Prof. Dr. Yafei Wang
Guest Editors

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Published Papers (1 paper)

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Research

25 pages, 10406 KiB  
Article
Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots
by Martín Velasco-Villa, Raúl Dalí Cruz-Morales, Alejandro Rodriguez-Angeles and Carlos A. Domínguez-Ortega
Sensors 2021, 21(11), 3824; https://doi.org/10.3390/s21113824 - 31 May 2021
Cited by 2 | Viewed by 1903
Abstract
This paper presents a navigation strategy for a platoon of n non-holonomic mobile robots with a time-varying spacing policy between each pair of successive robots at the platoon, such that a safe trailing distance is maintained at any speed, avoiding the robots getting [...] Read more.
This paper presents a navigation strategy for a platoon of n non-holonomic mobile robots with a time-varying spacing policy between each pair of successive robots at the platoon, such that a safe trailing distance is maintained at any speed, avoiding the robots getting too close to each other. It is intended that all the vehicles in the formation follow the trajectory described by the leader robot, which is generated by bounded input velocities. To establish a chain formation among the vehicles, it is required that, for each pair of successive vehicles, the (i+1)-th one follows the trajectory executed by the former i-th one, with a delay of τ(t) units of time. An observer is proposed to estimate the trajectory, velocities, and positions of the i-th vehicle, delayed τ(t) units of time, consequently generating the desired path for the (i+1)-th vehicle, avoiding numerical approximations of the velocities, rendering robustness against noise and corrupted or missing data as well as to external disturbances. Besides the time-varying gap, a constant-time gap is used to get a secure trailing distance between each two successive robots. The presented platoon formation strategy is analyzed and proven by using Lyapunov theory, concluding asymptotic convergence for the posture tracking between the (i+1)-th robot and the virtual reference provided by the observer that corresponds to the i-th robot. The strategy is evaluated by numerical simulations and real-time experiments. Full article
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