Matt Bunting
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View article: Reinforcement Learning-Based Oscillation Dampening: Scaling Up Single-Agent Reinforcement Learning Algorithms to a 100-Autonomous-Vehicle Highway Field Operational Test
Reinforcement Learning-Based Oscillation Dampening: Scaling Up Single-Agent Reinforcement Learning Algorithms to a 100-Autonomous-Vehicle Highway Field Operational Test Open
In this article, we explore the technical details of the reinforcement learning (RL) algorithms that were deployed in the largest field test of automated vehicles designed to smooth traffic flow in history as of 2023, uncovering the challe…
View article: Design, Preparation, and Execution of the 100-AV Field Test for the CIRCLES Consortium: Methodology and Implementation of the Largest Mobile Traffic Control Experiment to Date
Design, Preparation, and Execution of the 100-AV Field Test for the CIRCLES Consortium: Methodology and Implementation of the Largest Mobile Traffic Control Experiment to Date Open
This article presents the comprehensive design, setup, execution, and evaluation of the MegaVanderTest (MVT) experiment conducted by the Congestion Impacts Reduction via CAV-in-the-Loop Lagrangian Energy Smoothing (CIRCLES) Consortium, whi…
View article: Traffic Smoothing Using Explicit Local Controllers: Experimental Evidence for Dissipating Stop-and-go Waves with a Single Automated Vehicle in Dense Traffic
Traffic Smoothing Using Explicit Local Controllers: Experimental Evidence for Dissipating Stop-and-go Waves with a Single Automated Vehicle in Dense Traffic Open
This article presents experimental evidence of the ability of a single automated vehicle acting as a controller to effectively dissipate stop-and-go waves in real traffic. The automated vehicle succeeded in stabilizing the speed profile by…
View article: Traffic Control via Connected and Automated Vehicles (CAVs): An Open-Road Field Experiment with 100 CAVs
Traffic Control via Connected and Automated Vehicles (CAVs): An Open-Road Field Experiment with 100 CAVs Open
The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. Also called “phantom jams” or “stop-and-go waves,” these instabilities are a significant source of was…
View article: Designing, simulating, and performing the 100-AV field test for the CIRCLES consortium: Methodology and Implementation of the Largest mobile traffic control experiment to date
Designing, simulating, and performing the 100-AV field test for the CIRCLES consortium: Methodology and Implementation of the Largest mobile traffic control experiment to date Open
Previous controlled experiments on single-lane ring roads have shown that a single partially autonomous vehicle (AV) can effectively mitigate traffic waves. This naturally prompts the question of how these findings can be generalized to fi…
View article: Traffic Control via Connected and Automated Vehicles: An Open-Road Field Experiment with 100 CAVs
Traffic Control via Connected and Automated Vehicles: An Open-Road Field Experiment with 100 CAVs Open
The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. These "phantom jams" or "stop-and-go waves,"are a significant source of wasted energy. Toward this goa…
View article: Reinforcement Learning Based Oscillation Dampening: Scaling up Single-Agent RL algorithms to a 100 AV highway field operational test
Reinforcement Learning Based Oscillation Dampening: Scaling up Single-Agent RL algorithms to a 100 AV highway field operational test Open
In this article, we explore the technical details of the reinforcement learning (RL) algorithms that were deployed in the largest field test of automated vehicles designed to smooth traffic flow in history as of 2023, uncovering the challe…
View article: A Middle Way to Traffic Enlightenment
A Middle Way to Traffic Enlightenment Open
This paper introduces a novel approach that seeks a middle ground for traffic control in multi-lane congestion, where prevailing traffic speeds are too fast, and speed recommendations designed to dampen traffic waves are too slow. Advanced…
View article: From Sim to Real: A Pipeline for Training and Deploying Traffic Smoothing Cruise Controllers
From Sim to Real: A Pipeline for Training and Deploying Traffic Smoothing Cruise Controllers Open
Designing and validating controllers for connected and automated vehicles to enhance traffic flow presents significant challenges, from the complexity of replicating real-world stop-and-go traffic dynamics in simulation, to the intricacies…
View article: Enabling Mixed Autonomy Traffic Control
Enabling Mixed Autonomy Traffic Control Open
We demonstrate a new capability of automated vehicles: mixed autonomy traffic control. With this new capability, automated vehicles can shape the traffic flows composed of other non-automated vehicles, which has the promise to improve safe…
View article: Traffic smoothing using explicit local controllers
Traffic smoothing using explicit local controllers Open
The dissipation of stop-and-go waves attracted recent attention as a traffic management problem, which can be efficiently addressed by automated driving. As part of the 100 automated vehicles experiment named MegaVanderTest, feedback contr…
View article: SAILing CAVs: Speed-Adaptive Infrastructure-Linked Connected and Automated Vehicles
SAILing CAVs: Speed-Adaptive Infrastructure-Linked Connected and Automated Vehicles Open
This work demonstrates a new capability in roadway control: Speed-adaptive, infrastructure-linked connected and automated vehicles. We develop and deploy a lightly modified vehicle that is able to dynamically adjust the vehicle speed in re…
View article: So you think you can track?
So you think you can track? Open
This work introduces a multi-camera tracking dataset consisting of 234 hours of video data recorded concurrently from 234 overlapping HD cameras covering a 4.2 mile stretch of 8-10 lane interstate highway near Nashville, TN. The video is r…
View article: Middleware for a Heterogeneous CAV Fleet
Middleware for a Heterogeneous CAV Fleet Open
This paper introduces CAN to ROS, a model-based code generation tool used in development, testing, and deployment of a heterogeneous fleet of vehicles with robotic sensing in ROS. Code generation supports two main features: (1) self-config…
View article: Analysis of a Runtime Data Sharing Architecture over LTE for a Heterogeneous CAV Fleet
Analysis of a Runtime Data Sharing Architecture over LTE for a Heterogeneous CAV Fleet Open
This paper describes a lightweight runtime architecture for telemetry, communication, and control of cars deployed with advanced driver assistance systems where a human is in the loop with the car, via an LTE connection. The system archite…
View article: Approaches for Synthesis and Deployment of Controller Models on Automated Vehicles for Car-following in Mixed Autonomy
Approaches for Synthesis and Deployment of Controller Models on Automated Vehicles for Car-following in Mixed Autonomy Open
This paper describes the software design patterns and vehicle interfaces that were employed to transition vehicle controllers from simulation environments to open-road field experiments. The approach relies on a life cycle that utilizes mo…
View article: Parameter Estimation for Decoding Sensor Signals
Parameter Estimation for Decoding Sensor Signals Open
This paper introduces a parameter estimation approach for decoding digital sensor signals in a cyber-physical system. For unknown or not fully characterized digital sensor data, it can be difficult to decipher a desired signal from backgro…
View article: WiP Abstract: Edge-Based Privacy of Naturalistic Driving Data Collection
WiP Abstract: Edge-Based Privacy of Naturalistic Driving Data Collection Open
Collecting large driving datasets is important for data-driven transportation research and studied in naturalistic driving [3]. Due to the standard implementation of a Controller Area Network (CAN) bus for a vehicle’s inter-module communic…
View article: Experimental testing of a control barrier function on an automated vehicle in live multi-lane traffic
Experimental testing of a control barrier function on an automated vehicle in live multi-lane traffic Open
This paper experimentally tests an implementation of a control barrier function (CBF) designed to guarantee a minimum time-gap in car following on an automated vehicle (AV) in live traffic, with a majority occurring on freeways. The CBF su…
View article: Data from the Development Evolution of a Vehicle for Custom Control
Data from the Development Evolution of a Vehicle for Custom Control Open
In order to develop custom controllers intended to operate vehicles on a live highway, a series of data collection-focused tests were performed at increasing stages of complexity. Modern vehicles with features like Adaptive Cruise Control …
View article: Strym: A Python Package for Real-time CAN Data Logging, Analysis and Visualization to Work with USB-CAN Interface
Strym: A Python Package for Real-time CAN Data Logging, Analysis and Visualization to Work with USB-CAN Interface Open
In this report, we describe a data analysis tool developed for decoding and analyzing vehicle data obtained from a passenger vehicle’s onboard controller area network (CAN) bus. The tool developed in this paper provides a timeseries framew…
View article: Compromised ACC vehicles can degrade current mixed-autonomy traffic performance while remaining stealthy against detection
Compromised ACC vehicles can degrade current mixed-autonomy traffic performance while remaining stealthy against detection Open
We demonstrate that a supply-chain level compromise of the adaptive cruise control (ACC) capability on equipped vehicles can be used to significantly degrade system level performance of current day mixed-autonomy freeway networks. Via a si…
View article: The I-24 Trajectory Dataset
The I-24 Trajectory Dataset Open
This dataset was created by recording CAN and GPS data from a single vehicle driving on I-24. The dataset includes values for Time, Velocity, Acceleration, Space Gap, Lateral Distance, Relative Velocity, Longitude GPS, Latitude GPS, Score,…
View article: The I-24 Trajectory Dataset
The I-24 Trajectory Dataset Open
This dataset was created by recording CAN and GPS data from a single vehicle driving on I-24. The dataset includes values for Time, Velocity, Acceleration, Space Gap, Lateral Distance, Relative Velocity, Longitude GPS, Latitude GPS, Score,…
View article: The I-24 Trajectory Dataset
The I-24 Trajectory Dataset Open
This dataset was created by recording CAN and GPS data from a single vehicle driving on I-24. The dataset includes values for Time, Velocity, Acceleration, Space Gap, Lateral Distance, Relative Velocity, Longitude GPS, Latitude GPS, Score,…
View article: The I-24 Trajectory Dataset
The I-24 Trajectory Dataset Open
This dataset was created by recording CAN and GPS data from a single vehicle driving on I-24. The dataset includes values for Time, Velocity, Acceleration, Space Gap, Lateral Distance, Relative Velocity, Longitude GPS, Latitude GPS, Score,…
View article: Libpanda
Libpanda Open
Cyber-Physical Systems (CPS) generally involve time-critical components due to physical dynamics, therefore necessitating high-performance subsystems. This is also true in data collection scenarios to infer physical phenomena. This paper c…