Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays

  title={Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays},
  author={Mario di Bernardo and Alessandro Salvi and Stefania Santini},
  journal={IEEE Transactions on Intelligent Transportation Systems},
We analyze and solve the platooning problem by treating it as the problem of achieving consensus in a network of dynamical systems affected by time-varying heterogeneous delays due to wireless communication among vehicles. Specifically, a platoon is modeled as a dynamical network where: 1) each vehicle, with its own dynamics, is a node; 2) the presence of communication links between neighboring vehicles is represented by edges; and 3) the structure of the intervehicle communication is encoded… CONTINUE READING
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