Related papers: Robust Distributed Control Protocols for Large Veh…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and…
This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…
This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…
In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…
This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…
We study platoon control of vehicles with linear third-order longitudinal dynamics under the constant time headway policy. The controller of each follower vehicle is only based on its own velocity, acceleration, inter-vehicle distance and…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
In this paper, we consider the two dimensional (2-D) predecessor-following control problem for a platoon of unicycle vehicles moving on a planar surface. More specifically, we design a decentralized kinematic control protocol, in the sense…
We synthesize performance-aware safe cruise control policies for longitudinal motion of platoons of autonomous vehicles. Using set-invariance theories, we guarantee infinite-time collision avoidance in the presence of bounded additive…
In this paper we propose a distributed model predictive control architecture to coordinate the longitudinal motion of a vehicle platoon at a signalized intersection. Our control approach is cooperative; we use vehicle-to-vehicle (V2V)…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
CAV platooning technology has received considerable attention in the past few years, driven by the next generation smart transportation systems. Unlike most of the existing platooning methods that focus on linear vehicle dynamics of CAVs,…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
Connected vehicular platoons provide a promising solution to improve traffic efficiency and ensure road safety. Vehicles in a platoon utilize on-board sensors and wireless vehicle-to-vehicle (V2V) links to share traffic information for…