Filippo, Bernabei (UNIMORE), Secchi, Cristian (University of Modena and Reggio Emilia)

Smart Infrastructure and Autonomous Vehicles: Ensuring Safety and Efficiency in Urban Traffic with Control Barrier Functions

Scheduled for presentation during the Regular Session "Smart Infrastructure & Collaborative Systems" (FrBT4), Friday, July 18, 2025, 14:40−15:00, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

Autonomous vehicles have the potential to transform urban transportation by improving road safety, efficiency, and accessibility. However, urban environments present unique challenges, such as complex traffic dynamics, uncertain obstacles, and limited visibility, necessitating advanced control strategies. This paper builds on previous work to refine a Control Barrier Function-based framework for autonomous vehicles by integrating Vehicle-to-Infrastructure (V2I) communication. Through pairwise CBFs, the proposed architecture utilizes infrastructure-based sensors to enhance situational awareness and decision-making, addressing limitations of onboard sensors alone.