RIM: Robust Intersection Management for Connected Autonomous Vehicles

  title={RIM: Robust Intersection Management for Connected Autonomous Vehicles},
  author={M. Khayatian and Mohammadreza Mehrabian and Aviral Shrivastava},
  journal={2018 IEEE Real-Time Systems Symposium (RTSS)},
Utilizing intelligent transportation infrastructures can significantly improve the throughput of intersections of Connected Autonomous Vehicles (CAV), where an Intersection Manager (IM) assigns a target velocity to incoming CAVs in order to achieve a high throughput. Since the IM calculates the assigned velocity for a CAV based on the model of the CAV, it's vulnerable to model mismatches and possible external disturbances. As a result, IM must consider a large safety buffer around all CAVs to… Expand
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