Publication

Local Graph-based Distributed Control for Safe Highway Platooning

Alcherio Martinoli, Sven Adrian Gowal
2010
Conference Papers

Abstract

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.

Official source

https://infoscience.epfl.ch/entities/publication/e77416d6-8296-4019-8a98-fe1eeafd2a83

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Local Graph-based Distributed Control for Safe Highway Platooning

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