Emerging mobility systems, for example, connected and automated vehicles (CAVs), shared mobility, and electric vehicles, mark a paradigm shift in which myriad opportunities exist for users to better monitor transportation network conditions and make optimal operating decisions to improve safety and reduce pollution, energy consumption, and travel delays [1] . As we move to increasingly complex emerging mobility systems, new control approaches are needed to optimize the impact on the system behavior [2] of the interplay among vehicles in different traffic scenarios [3] . Several studies have shown the benefits of CAVs to reduce energy consumption and alleviate traffic congestion in specific transportation scenarios [4] , [5] , [6] . There have been two major approaches to utilizing CAVs, namely, platooning and traffic smoothing. A platoon is defined as a group of closely coupled vehicles traveling to reduce their aerodynamic drag, especially at high cruising speeds. The concept of platoon formation is a popular system-level approach to address traffic congestion, which gained momentum in the 1980s and 1990s [7] , [8] , [9] . There has been a rich body of research exploring various methods of forming and/or utilizing platoons to improve transportation efficiency [10] , [11] , [12] , [13] , [14] , [15] , [16] , [17] , [18] , [19] , [20] , [21] , [22] .

中文翻译：

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新兴移动系统实时控制的研究和教育机器人试验台：从理论到规模化实验 [控制的应用]

新兴的移动系统，例如联网和自动驾驶汽车 (CAV)、共享移动和电动汽车，标志着一种范式转变，在这种转变中，用户有无数机会更好地监控交通网络状况并做出最佳运营决策，以提高安全性和减少污染、能源消耗和旅行延误[1] . 随着我们转向日益复杂的新兴移动系统，需要新的控制方法来优化对系统行为的影响[2]不同交通场景下车辆之间的相互作用[3] . 多项研究表明，在特定交通场景下，CAV 在降低能源消耗和缓解交通拥堵方面的优势[4] ,[5] ,[6] . 使用 CAV 有两种主要方法，即编队行驶和交通平滑。排被定义为一组紧密耦合的车辆行驶以减少其空气阻力，特别是在高巡航速度下。排队的概念是解决交通拥堵的一种流行的系统级方法，在 1980 年代和 90 年代获得了发展势头[7] ,[8] ,[9] . 已经有大量研究探索形成和/或利用排来提高运输效率的各种方法[10] ,[11] ,[12] ,[13] ,[14] ,[15] ,[16] ,[17] ,[18] ,[19] ,[20] ,[21] ,[22] .