This paper presents YatSim, an open-source program for simulating consensus-based control strategies in urban traffic networks. Urban traffic is a multi-agent system which requires agreement among the agents to guarantees performance, safety, and higher efficiency. YatSim is an user-friendly program that allows to create randomized urban traffic networks in which vehicles run. Vehicles agree on crossing priorities at the intersections by executing a Consensus-Based Auction Algorithm Modified. Ccollisions are avoided by employing an onboard Model Predictive Controller.
@article{arxiv.1810.11380,
title = {YatSim: an Open-Source Simulator For Testing Consensus-based Control Strategies in Urban Traffic Networks},
author = {Alexander Martin Dethof and Fabio Molinari},
journal= {arXiv preprint arXiv:1810.11380},
year = {2018}
}