Impacts of Distributed Speed Harmonization and Optimal Maneuver Planning on Multi-Lane Roads. - Nathan Goulet; Beshah Ayalew (CCTA, 2020)

Energy and Flow Effects of Optimal Automated Driving in Mixed Traffic: Vehicle-in-the-Loop Experimental Results. - Tyler Ard; Longxiang Guo; Robert Austin Dollar; S. Alireza Fayazi; Nathan Goulet; Yunyi Jia; Beshah Ayalew; Ardalan Vahidi (CoRR, 2020)

Probabilistic constraint tightening techniques for trajectory planning with predictive control. - Nathan Goulet; Qian Wang; Beshah Ayalew (J. Frankl. Inst., 2022)

Distributed Maneuver Planning With Connected and Automated Vehicles for Boosting Traffic Efficiency. - Nathan Goulet; Beshah Ayalew (IEEE Trans. Intell. Transp. Syst., 2022)

High-Confidence Trajectory Planning for Off-Road Automated Vehicles under Energy Constraints. - Nathan Goulet; Beshah Ayalew; Matthew P. Castanier; Annette Skowronska (ACC, 2023)

Multi-Vehicle Charge Scheduling and Routing with a Mobile Charging Host. - Nathan Goulet; Beshah Ayalew; Matthew P. Castanier; Annette Skowronska (CCTA, 2023)