A congestion-aware routing scheme for Autonomous Mobility-on-Demand Systems

Mauro Salazar, Matthew Tsao, Izabel Aguiar, Maximilian Schiffer, Marco Pavone

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

34 Citations (Scopus)


We study route-planning for Autonomous Mobility-on-Demand (AMoD) systems that accounts for the impact of road traffic on travel time. Specifically, we develop a congestion-aware routing scheme (CARS) that captures road-utilization-dependent travel times at a mesoscopic level via a piecewise affine approximation of the Bureau of Public Roads (BPR) model. This approximation largely retains the key features of the BPR model, while allowing the design of a real-time, convex quadratic optimization algorithm to determine congestion-aware routes for an AMoD fleet. Through a real-world case study of Manhattan, we compare CARS to existing routing approaches, namely a congestion-unaware and a threshold congestion model. Numerical results show that CARS significantly outperforms the other two approaches, with improvements in terms of travel time and global cost in the order of 20%.
Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)9783907144008
Publication statusPublished - Jun 2019
Externally publishedYes
Event18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italy
Duration: 25 Jun 201928 Jun 2019
Conference number: 18


Conference18th European Control Conference, ECC 2019
Abbreviated titleECC 2019
Other18th European Control Conference (ECC 2019) (in cooperation with IFAC)
Internet address


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