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Hierarchical-distributed optimized coordination of intersection traffic

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Pavankumar Tallapragada, Jorge Cortés

Optimization and Control · Submitted 3 Jan 2016

abstract compiled · 2026-09-23 · no language-model review

The authors' main claim Our analysis rigorously establishes that the different aspects of the hierarchical design operate in concert and that the safety guarantees provided by the proposed design are satisfied.

how it is stated · asserted 1.00 read the record →

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arXiv ID1601.00246 (version 2)
Pith IDRRDE67QA, Pith's permanent record of this paper and its review
CitationJorge Cort\'es, Pavankumar Tallapragada. "Hierarchical-distributed optimized coordination of intersection traffic." arXiv:1601.00246 (2016). https://pith.science/paper/RRDE67QA
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The paper's own sentences, arranged. Each label is drawn from a closed vocabulary; the number beside it is the probability the classifier gave that label. Numbers in the tables are the authors', checked by code. No sentence in this record was written by a model.

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Compiled by classifier-1.13.0 via TypeSafe API, question bank abstract-p1-20260923, 2026-09-23: 1 request, 4,986 input tokens.

What the abstract itself states, as probabilities: claims first 0.03 · states limitation 0.11 · human participants 0.03 · controlled comparison 0.90 · randomized assignment 0.02 · states quantitative result 0.05 · compares with prior results 0.96 · mentions code or data availability 0.03.

The abstract, sentence by sentence

arXiv listing abstract v2. Results and the main claim are underlined; .

This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe hierarchical-distributed solution to balance computational complexity and optimality of the system operation. In our design, a central intersection manager communicates with vehicles heading towards the intersection, groups them into clusters (termed bubbles) as they appear, and determines an optimal schedule of passage through the intersection for each bubble. The vehicles in each bubble receive their schedule and implement local distributed control to ensure system-wide inter-vehicular safety while respecting speed and acceleration limits, conforming to the assigned schedule, and seeking to optimize their individual trajectories. Our analysis rigorously establishes that the different aspects of the hierarchical design operate in concert and that the safety guarantees provided by the proposed design are satisfied. We illustrate its execution in a suite of simulations and compare its performance to traditional signal-based coordination over a wide range of system parameters.

background contribution method result interpretation main claim

What the classifier reports for each sentence. The number is the probability it gave the label.
#sentencerolethe authors' own workstates the main conclusionstrength
s0 This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. background 1.00 0.24 0.05 asserted 0.74
s1 We propose a provably safe hierarchical-distributed solution to balance computational complexity and optimality of the system operation. contribution 0.99 0.92 0.29 asserted 1.00
s2 In our design, a central intersection manager communicates with vehicles heading towards the intersection, groups them into clusters (termed bubbles) as they appear, and determines an optimal schedule of passage through the intersection for each bubble. method 0.97 0.78 0.07 asserted 0.99
s3 The vehicles in each bubble receive their schedule and implement local distributed control to ensure system-wide inter-vehicular safety while respecting speed and acceleration limits, conforming to the assigned schedule, and seeking to optimize their individual trajectories. method 0.98 0.65 0.07 asserted 0.98
s4 Our analysis rigorously establishes that the different aspects of the hierarchical design operate in concert and that the safety guarantees provided by the proposed design are satisfied. result 0.67 0.95 0.45 asserted 1.00
s5 We illustrate its execution in a suite of simulations and compare its performance to traditional signal-based coordination over a wide range of system parameters. method 0.49 0.95 0.09 asserted 0.99

What kind of paper the classifier reports this is: method or tool 1.00 · evidence from proof or derivation 0.73.

What was examined, and what was not

sources read
  • arXiv listing abstract v2
not examined
  • full text
  • figures and tables
  • references and citing sentences
  • relations to other papers
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  • P abstract
not run
  • S sections
  • T body sentences
  • C citations
  • R cross-paper relations

Every quoted sentence on this record is the authors'. Every label is from Pith's closed vocabulary, with the probability shown beside it. Every number in the measurements table is the authors', checked by code. Record as JSON

The paper
Original abstract

This paper considers the problem of coordinating the vehicular traffic at an intersection and on the branches leading to it for minimizing a combination of total travel time and energy consumption. We propose a provably safe hierarchical-distributed solution to balance computational complexity and optimality of the system operation. In our design, a central intersection manager communicates with vehicles heading towards the intersection, groups them into clusters (termed bubbles) as they appear, and determines an optimal schedule of passage through the intersection for each bubble. The vehicles in each bubble receive their schedule and implement local distributed control to ensure system-wide inter-vehicular safety while respecting speed and acceleration limits, conforming to the assigned schedule, and seeking to optimize their individual trajectories. Our analysis rigorously establishes that the different aspects of the hierarchical design operate in concert and that the safety guarantees provided by the proposed design are satisfied. We illustrate its execution in a suite of simulations and compare its performance to traditional signal-based coordination over a wide range of system parameters.

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How the literature uses it

1 arXiv paper cite this in 1 sentence

Each citing sentence is taken from the citing paper's LaTeX source and typed by Pith's classifier. A label appears at probability 0.8 or more (0.95 for support), a contest at 0.7 or more; the quoted words are the citing authors'. How each label was checked · JSON

Papers citing it

Cites it as background 1 paper
  • The existing literature includes a hierarchical-distributed coordination scheme that balances computational complexity and optimality [ref] , an approximation algorithm based on an optimal control formulation [ref] , an MPC-based approach [ref] , a distributed control generated from its formal specifications [ref] , a game-theoretic cruise control approach [ref] , an analysis of intersecting vehicle flows [ref] as well as approximation approaches based on hybrid systems theory [ref] .

    Polling-systems-based Autonomous Vehicle Coordination in Traffic Intersections with No Traffic Signals · Introduction · 0.98

What it cites · 2 sentences without a confident label

Uses the method or tool of 1 paper
Cites as support 1 paper

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