Model predictive control of ride-sharing autonomous mobility-on-demand systems

Matthew Tsao, Dejan Milojevic, Claudio Ruch, Mauro Salazar, Emilio Frazzoli, Marco Pavone

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

7 Citations (Scopus)

Abstract

This paper presents a model predictive control (MPC) approach to optimize routes for Ride-sharing Autonomous Mobility-on-Demand (RAMoD) systems, whereby self-driving vehicles provide coordinated on-demand mobility, possibly allowing multiple customers to share a ride. Specifically, we first devise a time-expanded network flow model for RAMoD. Second, leveraging this model, we design a real-time MPC algorithm to optimize the routes of both empty and customer-carrying vehicles, with the goal of optimizing social welfare, namely, a weighted combination of customers' travel time and vehicles' mileage. Finally, we present a real-world case study for the city of San Francisco, CA, by using the micro-scopic traffic simulator MATSim. The simulation results show that a RAMoD system can significantly improve social welfare with respect to a single-occupancy Autonomous Mobility-on-Demand (AMoD) system, and that the predictive structure of the proposed MPC controller allows it to outperform existing reactive ride-sharing coordination algorithms for RAMoD.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers
Pages6665-6671
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - May 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

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  • Cite this

    Tsao, M., Milojevic, D., Ruch, C., Salazar, M., Frazzoli, E., & Pavone, M. (2019). Model predictive control of ride-sharing autonomous mobility-on-demand systems. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 6665-6671). [8794194] Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2019.8794194