arXiv subjects

Arnaud De La Fortelle

Publications and source records attributed to Arnaud De La Fortelle.

5 recordsLinked to original sources

arXiv2014

Priority-based coordination of autonomous and legacy vehicles at intersection

Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system with provable collision-free and deadlock-free features has been presented. In this paper, we extend the priority-based approach to support legacy vehicles without compromising above-mentioned features. We make the hypothesis that legacy vehicles are able to keep a safe distance from their leading vehicles. Then we explore some special configurations of system that ensures the safe crossing of legacy vehicles. We implement the extended system in a realistic traffic simulator SUMO. Simulations are performed to demonstrate the safety of the system.

cs.RO↗

arXiv2012

Best-effort networks: modeling and performance analysis via large networks asymptotics

In this paper we introduce a class of Markov models, termed best-effort networks, designed to capture performance indices such as mean transfer times in data networks with best-effort service. We introduce the so-called min bandwidth sharing policy as a conservative approximation to the classical max-min policy. We establish necessary and sufficient ergodicity conditions for best-effort networks under the min policy. We then resort to the mean field technique of statistical physics to analyze network performance deriving fixed point equations for the stationary distribution of large symmetrical best-effort networks. A specific instance of such net- works is the star-shaped network which constitutes a plausible model of a network with an overprovisioned backbone. Numerical and analytical study of the equations allows us to state a number of qualitative conclusions on the impact of traffic parameters (link loads) and topology parameters (route lengths) on mean document transfer time.

math.PR↗

arXiv2007

Belief Propagation and Bethe approximation for Traffic Prediction

We define and study an inference algorithm based on "belief propagation" (BP) and the Bethe approximation. The idea is to encode into a graph an a priori information composed of correlations or marginal probabilities of variables, and to use a message passing procedure to estimate the actual state from some extra real-time information. This method is originally designed for traffic prediction and is particularly suitable in settings where the only information available is floating car data. We propose a discretized traffic description, based on the Ising model of statistical physics, in order to both reconstruct and predict the traffic in real time. General properties of BP are addressed in this context. In particular, a detailed study of stability is proposed with respect to the a priori data and the graph topology. The behavior of the algorithm is illustrated by numerical studies on a simple traffic toy model. How this approach can be generalized to encode superposition of many traffic patterns is discussed.

physics.soc-ph↗

arXiv2006

Statistical Physics Algorithms for Traffic Reconstruction

Concepts and techniques from statistical physics inspired a new method for traffic prediction. This method is particularly suitable in settings where the only information available is floating car data. We propose a system, based on the Ising model of statistical physics, which both reconstructs and predicts the traffic in real time using a message-passing algorithm.

math.PR↗

arXiv2005

Cybercars : Past, Present and Future of the Technology

Automobile has become the dominant transport mode in the world in the last century. In order to meet a continuously growing demand for transport, one solution is to change the control approach for vehicle to full driving automation, which removes the driver from the control loop to improve efficiency and reduce accidents. Recent work shows that there are several realistic paths towards this deployment : driving assistance on passenger cars, automated commercial vehicles on dedicated infrastructures, and new forms of urban transport (car-sharing and cybercars). Cybercars have already been put into operation in Europe, and it seems that this approach could lead the way towards full automation on most urban, and later interurban infrastructures. The European project CyberCars has brought many improvements in the technology needed to operate cybercars over the last three years. A new, larger European project is now being prepared to carry this work further in order to meet more ambitious objectives in terms of safety and efficiency. This paper will present past and present technologies and will focus on the future developments.

cs.RO↗