# Decentralized Optimal Control of Connected Automated Vehicles at Signal-Free Intersections Including Comfort-Constrained Turns and Safety Guarantees

arXiv: https://arxiv.org/abs/1903.04600 · HTML: https://mlsanity.com/paper/1903.04600/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [A Value Based Parallel Update MCTS Method for Multi-Agent Cooperative Decision Making of Connected and Automated Vehicles](https://mlsanity.com/paper/2409.13783/) (2024)

## Abstract (arXiv)

We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time minimization. We show that it is possible to achieve this goal in a decentralized manner with each CAV solving an optimal control problem, and derive explicit solutions that guarantee collision avoidance and safe distance constraints within a control zone. We investigate the associated tradeoffs between minimizing energy and vehicle travel time, as well as the passenger comfort metric and include extensive simulations to illustrate this framework.