├── .github └── workflows │ └── main.yml ├── .gitignore ├── Julia Implementations ├── README.md ├── cooperative_formations_multiple_AVs_julia │ ├── cooperative_demo_julia.ipynb │ └── cooperative_demo_julia_functions.ipynb ├── numerical_sim_julia │ ├── large_scale_simulation_julia.ipynb │ └── num_sim_functions_julia.ipynb ├── smoothing_traffic_flow_julia │ ├── smoothing_traffic_flow_functions.ipynb │ └── smoothing_traffic_flow_via_AVs.ipynb └── structured_optimal_control_julia │ ├── structured_optimal_control_functions_julia.ipynb │ └── structured_optimal_control_julia.ipynb ├── LICENSE ├── Python Implementations ├── README.md ├── cooperative_formation_multiple_AVs │ ├── demo_cooperative_formation.py │ └── functions │ │ ├── ReturnObjectiveValue.py │ │ └── getAVID.py ├── numerical_sim │ ├── combined_function.py │ ├── functions │ │ ├── ReturnObjectiveValue.py │ │ └── getPercentile.py │ └── large_scale_simulation.py ├── smoothing_traffic_flow_via_AVs │ ├── functions │ │ ├── lqr_sdp.py │ │ └── ring_traffic_model.py │ └── smoothing_traffic_flow.py └── structured_optimal_control │ ├── functions │ ├── lqrsdp.py │ ├── optsi.py │ ├── pattern_generation.py │ ├── pattern_invariance.py │ └── system_model.py │ └── structured_optimal_control.py ├── README.md ├── cooperative_formation_multiple_AVs ├── _data │ ├── Animation_Color.mat │ ├── ColorMap_RedWhiteBlue.mat │ ├── ColorMap_VelocityTrajectory.mat │ ├── Objective Value Comparison │ │ ├── 18-Sep-2019_Comparison_OVM_AVnumber_2_gammaType_1.mat │ │ ├── 18-Sep-2019_Comparison_OVM_AVnumber_2_gammaType_2.mat │ │ ├── 18-Sep-2019_Comparison_OVM_AVnumber_4_gammaType_1.mat │ │ └── 18-Sep-2019_Comparison_OVM_AVnumber_4_gammaType_2.mat │ ├── Optimal Formation │ │ ├── 17-Sep-2019_OptimalPlacement_OVM_N_12_AV_2_gammaType_1.mat │ │ ├── 18-Sep-2019_OptimalPlacement_OVM_N_12_AV_2_gammaType_2.mat │ │ ├── 18-Sep-2019_OptimalPlacement_OVM_N_12_AV_4_gammaType_1.mat │ │ └── 19-Sep-2019_OptimalPlacement_OVM_N_12_AV_4_gammaType_2.mat │ └── Submodularity │ │ ├── ACC │ │ ├── NotOVM_10-May-2020_N_12_Controller_2.mat │ │ ├── NotOVM_10-May-2020_N_12_Controller_3.mat │ │ ├── OVM_10-May-2020_N_12_Controller_2.mat │ │ └── OVM_10-May-2020_N_12_Controller_3.mat │ │ └── Optimal Control Strategy │ │ ├── NotOVM_26-Apr-2020_N_12_GammaType_9999.mat │ │ └── OVM_27-Apr-2020_N_12_GammaType_9999.mat ├── _fcn │ ├── ReturnObjectiveValue.m │ └── ReturnObjectiveValue_ACC.m ├── demo_cooperative_formation.m └── src │ ├── ObjectiveValueComparison_Calculation.m │ ├── ObjectiveValueComparison_PlotResults.m │ ├── OptimalFormation_Calculation.m │ ├── OptimalFormation_PlotResults.m │ ├── Plot_FormationInRingRoad.m │ ├── Plot_OVMSpacingPolicy.m │ ├── PoleDistribution_CaseAnalysis.m │ ├── PoleDistribution_DifferentAVNumbers.m │ ├── Simulation_BrakeScenario.m │ ├── Simulation_StatisticsAnalysis.m │ ├── Submodularity_Calculate_ACC.m │ ├── Submodularity_Calculate_OptimalControlStrategy.m │ ├── Submodularity_Plot_ACC.m │ └── Submodularity_Plot_OptimalControlStrategy.m ├── docs ├── Summer_Research_Conference_2022.pdf ├── cooperative_formation_multiple.md ├── deepLCC.md ├── images │ ├── cooperative_formation_multiple │ │ ├── Exp1.png │ │ ├── Exp1Res.png │ │ ├── Exp2.png │ │ ├── Exp3A.png │ │ ├── Exp3B.png │ │ ├── cooperative_formation.png │ │ ├── platoon_formation.gif │ │ └── uniform_distribution.gif │ ├── penetration_rate_data │ │ ├── Platoon │ │ │ ├── Platoon_N=20_control_energy.png │ │ │ ├── Platoon_N=20_maximum_spacing.png │ │ │ ├── Platoon_N=20_settlingtime.png │ │ │ ├── Platoon_N=45_control_energy.png │ │ │ ├── Platoon_N=45_maximum_spacing.png │ │ │ ├── Platoon_N=45_settlingtime.png │ │ │ ├── Platoon_N=70_control_energy.png │ │ │ ├── Platoon_N=70_maximum_spacing.png │ │ │ └── Platoon_N=70_settlingtime.png │ │ ├── Summer Research Conference 2022.pdf │ │ └── Uniform │ │ │ ├── Uniform_N=20_control_energy.png │ │ │ ├── Uniform_N=20_maximum_spacing.png │ │ │ ├── Uniform_N=20_settlingtime.png │ │ │ ├── Uniform_N=45_control_energy.png │ │ │ ├── Uniform_N=45_maximum_spacing.png │ │ │ ├── Uniform_N=45_settlingtime.png │ │ │ ├── Uniform_N=70_control_energy.png │ │ │ ├── Uniform_N=70_maximum_spacing.png │ │ │ └── Uniform_N=70_settlingtime.png │ ├── smoothing_traffic_flow │ │ ├── Maximum_Spacing_with_different_control_strategy.png │ │ ├── Model_establishment_schematic.png │ │ ├── Traffic_scenario.png │ │ ├── Velocity_deviation.png │ │ ├── control_energy.png │ │ ├── fuel_consumption_results.png │ │ ├── maximum_spacing_results.png │ │ ├── mixed_traffic_flow_schematic diagram.png │ │ ├── smoothing_traffic_flow_all_HDVs.gif │ │ ├── smoothing_traffic_flow_one_AV.gif │ │ ├── stablizing_traffic_flow.png │ │ └── velocity_result.png │ └── structured_optimal_control │ │ ├── Comp1.png │ │ ├── Comp2.png │ │ ├── ExpB.png │ │ ├── ExpC.png │ │ ├── Structured-optimal-results.png │ │ └── structured_control.png ├── index.md ├── smoothing_traffic_flow.md ├── structured_optimal_control.md └── student_project │ ├── images │ └── penetration_rate_data │ │ ├── Data Graphs - New.xlsx │ │ ├── Platoon │ │ ├── Platoon_N=20_control_energy.png │ │ ├── Platoon_N=20_maximum_spacing.png │ │ ├── Platoon_N=20_settlingtime.png │ │ ├── Platoon_N=45_control_energy.png │ │ ├── Platoon_N=45_maximum_spacing.png │ │ ├── Platoon_N=45_settlingtime.png │ │ ├── Platoon_N=70_control_energy.png │ │ ├── Platoon_N=70_maximum_spacing.png │ │ └── Platoon_N=70_settlingtime.png │ │ ├── Summer Research Conference 2022.pdf │ │ └── Uniform │ │ ├── Uniform_N=20_control_energy.png │ │ ├── Uniform_N=20_maximum_spacing.png │ │ ├── Uniform_N=20_settlingtime.png │ │ ├── Uniform_N=45_control_energy.png │ │ ├── Uniform_N=45_maximum_spacing.png │ │ ├── Uniform_N=45_settlingtime.png │ │ ├── Uniform_N=70_control_energy.png │ │ ├── Uniform_N=70_maximum_spacing.png │ │ └── Uniform_N=70_settlingtime.png │ └── numerical_data.md ├── images └── img │ ├── all_HDVs.gif │ ├── one_AV.gif │ ├── platoon_formation.gif │ ├── structured_control.PNG │ ├── system_schematic_1AV.PNG │ └── uniform_distribution.gif ├── mkdocs.yml ├── smoothing_traffic_flow_via_AVs ├── Python │ ├── lqr_sdp.py │ ├── ring_traffic_model.py │ └── smoothing_traffic_flow.py ├── _data │ ├── Animation_Color.mat │ ├── InitialDeviation_SystemSize_1AV.mat │ └── InitialDeviation_SystemSize_2AV.mat ├── _fcn │ ├── lqr_sdp.m │ └── ring_traffic_model.m ├── demo_smoothing_traffic_flow.m └── src │ ├── Simulation_BrakeScenario.m │ ├── Simulation_ImpulsePerturbation.m │ ├── Simulation_InitialDeviation.m │ ├── SystemSize_GenerateData.m │ └── SystemSize_PlotResults.m └── structured_optimal_control ├── .DS_Store ├── _data ├── example_setup_and_controller.mat ├── initial_deviation_setup.mat └── mymap.mat ├── _fcn ├── lqrsdp.m ├── optsi.m ├── pattern_generation.m ├── pattern_invariance.m └── system_model.m ├── src ├── OVM_spacing_policy.m ├── Simulation_BrakeScenario.m ├── Simulation_InitialDeviation.m ├── Simulation_InitialDeviation_FailToReach.m └── Simulation_StopGoWave.m └── 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