Platooning merging maneuvers in the presence of parametric uncertainty⁎

Simone Baldi; Muhammad Ridho Rosa; Paolo Frasca; Elias B. Kosmatopoulos

doi:10.1016/j.ifacol.2018.12.026

Platooning merging maneuvers in the presence of parametric uncertainty^⁎

Simone Baldi, Muhammad Ridho Rosa, Paolo Frasca, Elias B. Kosmatopoulos

Team Bart De Schutter

Research output: Contribution to journal › Conference article › Scientific › peer-review

12 Citations (Scopus)

57 Downloads (Pure)

Abstract

Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.

Original language	English
Pages (from-to)	148-153
Journal	IFAC-PapersOnLine
Volume	51
Issue number	23
DOIs	https://doi.org/10.1016/j.ifacol.2018.12.026
Publication status	Published - 2018
Event	7th IFAC Workshop on Distributed Estimation and Control in Networked Systems - Groningen, Netherlands Duration: 27 Aug 2018 → 28 Aug 2018

Keywords

adaptive control
Adaptive synchronization
heterogeneous uncertain agents

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10.1016/j.ifacol.2018.12.026

1-s2.0-S2405896318335584-mainFinal published version, 740 KB

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abstract = "Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.",

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AU - Baldi, Simone

AU - Rosa, Muhammad Ridho

AU - Frasca, Paolo

AU - Kosmatopoulos, Elias B.

PY - 2018

Y1 - 2018

N2 - Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.

AB - Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.

KW - adaptive control

KW - Adaptive synchronization

KW - heterogeneous uncertain agents

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DO - 10.1016/j.ifacol.2018.12.026

M3 - Conference article

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VL - 51

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EP - 153

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 23

T2 - 7th IFAC Workshop on Distributed Estimation and Control in Networked<br/>Systems

Y2 - 27 August 2018 through 28 August 2018

ER -

Platooning merging maneuvers in the presence of parametric uncertainty^⁎

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Keywords

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