![\"\"](\"http:\/\/depts.washington.edu\/pactrans\/wp-content\/uploads\/2019\/07\/Researchers-from-WSU-and-Stony-Brook-....jpg\")
<\/p>\n<\/p>\n
Mehrdad Tajalli<\/a> and Ali Hajbabaie<\/a> from PacTrans constituent university, WSU, alongside Amir Mirheli<\/a> and Leila Hajibabai<\/a> from Stony Brook University in New York, had their paper, \u201cA consensus-based distributed trajectory control in a signal-free intersection<\/a>,\u201d published in <\/span>Transportation Research Board Part C: Emerging Technologies<\/span><\/i><\/a> last January.\u00a0<\/span><\/p>\n The paper, which the team had been working on since 2018, explores the development of, \u201ca distributed cooperative control logic to determine conflict-free trajectories for connected and automated vehicles (CAVs) in signal-free intersections.\u201d (Mirheli, Tajalli, Hajibabai, & Hajbabaie, 2019<\/a>).\u00a0<\/span><\/p>\n The cooperative trajectory planning problem is expressed as vehicle-level mixed integer nonlinear programs (MINLPs), which Hajbabaie also worked with and describes in another research paper. In this case, the MINLPs are intended to decrease the travel time and speed variations of vehicles, while maintaining safety and avoiding collisions.\u00a0<\/span><\/p>\n CAVs were used to design a coordination scheme, which observes any conflicting movements between vehicles and records their states, such as location, on a prediction horizon. This information is then relayed into a CAV\u2019s MINLPs, allowing the CAVs to better determine the route that will take the least amount of travel time that is also the most conflict-free.\u00a0<\/span><\/p>\n Some of the research highlights include:\u00a0<\/span><\/p>\n\n