A Coalitional MPC Approach to Control of Collaborative Vehicle Platoons

P. Chanfreut*, T. Keijzer, J. M. Maestre*, R. M.G. Ferrari

*Corresponding author for this work

Research output: Contribution to journalConference articleScientificpeer-review

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This work presents a coalitional model predictive controller for collaborative vehicle platoons. The overall system is modeled as a string of locally controlled vehicles that can share data through a wireless communication network. The vehicles can dynamically form disjoint groups that coordinate their actions, i.e., the so-called coalitions. The control goals are keeping a desired reference distance between all vehicles while allowing for occasional switching of the communication topology. Likewise, the presented controller promotes a string-stable evolution of the platoon system. Numerical results are provided to illustrate the proposed approach.

Original languageEnglish
Pages (from-to)8518-8523
Number of pages6
Issue number2
Publication statusPublished - 2023
Event22nd IFAC World Congress - Yokohama, Japan
Duration: 9 Jul 202314 Jul 2023


This work is supported by the Spanish Training Program for Academic Staff under Grant FPU17/02653, and by the Spanish MCIN/AEI/10.13039/501100011033 Project C3PO-R2D2 under Grant PID2020-119476RB-I00.


  • Model predictive control
  • multi-agent systems
  • string stability
  • vehicle platoons


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