Multi-agent dynamic routing of a fleet of cybercars

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11 Citations (Scopus)


Due to the lack of efficient control methods for a fleet of vehicles throughout a road network, the large-scale application of cybercars, which are fully automatic road vehicles providing on-demand and door-to-door transportation service, is
still hindered. Although the fleet control problem for cybercars can be straightforwardly addressed in a centralized control setting, for reasons of scalability and fast computation, a centralized control method will not be tractable for the large-scale use of cybercars in the future. In this paper, we focus on the dynamic routing of a fleet of cybercars considering minimization of the combined system cost including the total time spent and the total energy consumption by all cybercars. We first propose a model of the dynamics and the energy consumption of a fleet of cybercars based on a description of the dynamics of every single cybercar and the states of the road network. After that, we propose several tractable and scalable multi-agent control methods including
multi-agent model predictive control and parameterized control for the dynamic routing of cybercars. Finally, experiments by means of numerical simulations illustrate the performance of the proposed control methods.
Original languageEnglish
Pages (from-to)1340-1352
JournalIEEE Transactions on Intelligent Transportation Systems
Volume19 (2018)
Issue number5
Publication statusPublished - 2017


  • cybercar
  • intelligent transportation system
  • multi-agent control
  • model predictive control
  • parameterized control


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