Authors Alex Richardson, Jonathan Sprinkle Abstract Digital twins of urban environments play a critical role in advancing autonomous vehicle (AV) research by enabling simulation, validation, and integration with emerging generative world models. While existing tools have demonstrated value, many publicly available solutions are tightly coupled to specific simulators, difficult to extend, or introduce significant technical Read more

Authors Alex Richardson, Azhar Hasan, Gabor Karsai, Jonathan Sprinkle Abstract This paper introduces a data-driven traffic microsimulation framework in CARLA that reconstructs real-world wave dynamics using high-fidelity time-space data from the I-24 MOTION testbed. Calibration of road networks in microsimulators to reproduce ephemeral phenomena such as traffic waves for large-scale simulation is a process that Read more

Authors Alex Richardson, Jonathan Sprinkle Abstract Autonomous Vehicle (AV) simulations are ubiquitous and crucial for offline analysis and development of AV solutions. However, deploying and utilizing simulation technology at scale is, in practice, a constant challenge – especially for independent researchers with limited resources. This is compounded by the fact that publicly available simulators are Read more

Authors Junyi Ji, Alex Richardson, Jonathan Sprinkle, Dan Work Summary The traffic system consists of vehicular components and road infrastructure across both cyber and physical layers. A key challenge in traffic operations is ensuring effective communication between vehicles and infrastructure. Vehicle data, sampled at around 1 Hz, captures detailed information at many locations but with Read more

Authors Junyi Ji, Alex Richardson, Derek Gloudemans, Gergely Zachár, Matthew Nice, William Barbour, Jonathan Sprinkle, Benedetto Piccoli, Dan Work Abstract Stop-and-go waves are a fundamental phenomenon in freeway traffic flow, contributing to inefficiencies, crashes, and emissions. Recent advancements in high-fidelity sensor technologies have improved the ability to capture detailed traffic dynamics, yet such systems remain Read more

Authors Jonathan W Lee, Han Wang, Kathy Jang, Nathan Lichtlé, Amaury Hayat, Matthew Bunting, Arwa Alanqary, William Barbour, Zhe Fu, Xiaoqian Gong, George Gunter, Sharon Hornstein, Abdul Rahman Kreidieh, Mat-Thew W Nice, William A Richardson (Alex Richardson), Adit Shah, Eugene Vinitsky, Fangyu Wu, Shengquan Xiang, Sulaiman Almatrudi, Fahd Althukair, Rahul Bhadani, Joy Carpio, Raphael Chekroun, Read more

https://ieeexplore.ieee.org/abstract/document/10588394 Authors Alex Richardson, Xia Wang, Abhishek Dubey, Jonathan Sprinkle Abstract In this work, we test the influence of several levels of communication and processing corresponding latency for traffic wave dissipation control. The approach uses Connected and Automated Vehicles (CAVs) that are controlled in simulation through reinforcement learning and non-reinforcement learning controllers, and compares their Read more

Authors Matthew Bunting, Matthew W Nice, Alex Richardson, Jonathan Sprinkle, Daniel B Work Abstract A method to rapidly deploy test software in a multipurpose Cyber-Physical System (CPS) platform is presented in the form of metadata called an app. Logistics in conducting an experiment involving a CPS can be challenging and is often minimally discussed in Read more

Authors Han Wang, Zhe Fu, Jonathan Lee, Hossein Nick Zinat Matin, Arwa Alanqary, Daniel Urieli, Sharon Hornstein, Abdul Rahman Kreidieh, Raphael Chekroun, William Barbour, William A. Richardson (Alex Richardson), Dan Work, Benedetto Piccoli, Benjamin Seibold, Jonathan Sprinkle, Alexandre M. Bayen, Maria Laura Delle Monache Abstract This paper introduces a novel control framework for Lagrangian variable Read more

Authors Jonathan W. Lee, Han Wang, Kathy Jang, Amaury Hayat, Matthew Bunting, Arwa Alanqary, William Barbour, Zhe Fu, Xiaoqian Gong, George Gunter, Sharon Hornstein, Abdul Rahman Kreidieh, Nathan Lichtlé, Matthew W. Nice, William A. Richardson (Alex Richardson), Adit Shah, Eugene Vinitsky, Fangyu Wu, Shengquan Xiang, Sulaiman Almatrudi, Fahd Althukair, Rahul Bhadani, Joy Carpio, Raphael Chekroun, Read more