Vehicular platooning : multi-layer consensus seeking

M. Fusco; E. Semsar-Kazerooni; J. Ploeg; N. van de Wouw

doi:10.1109/IVS.2016.7535414

Vehicular platooning : multi-layer consensus seeking

M. Fusco, E. Semsar-Kazerooni, J. Ploeg, N. van de Wouw

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

8 Citations (Scopus)

2 Downloads (Pure)

Abstract

In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider third-order systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing policy is rigorously addressed. The approach used is both multi-layered and consensus-based. The multi-layer approach allows to separate the problem of estimating the desired trajectories from the problem of controlling the vehicles towards those trajectories while keeping a safety distance. Consensus algorithms will be employed on each layer to solve these two problems.

Original language	English
Title of host publication	2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	382-387
DOIs	https://doi.org/10.1109/IVS.2016.7535414
Publication status	Published - 2016
Event	2016 IEEE Intelligent Vehicles Symposium, IV 2016 - Gothenburg, Sweden Duration: 19 Jun 2016 → 22 Jun 2016

Conference

Conference	2016 IEEE Intelligent Vehicles Symposium, IV 2016
Abbreviated title	IV 2016
Country/Territory	Sweden
City	Gothenburg
Period	19/06/16 → 22/06/16

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10.1109/IVS.2016.7535414

Cite this

@inproceedings{361bc96c908e40c69f7158dcf33acbf2,

title = "Vehicular platooning : multi-layer consensus seeking",

abstract = "In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider third-order systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing policy is rigorously addressed. The approach used is both multi-layered and consensus-based. The multi-layer approach allows to separate the problem of estimating the desired trajectories from the problem of controlling the vehicles towards those trajectories while keeping a safety distance. Consensus algorithms will be employed on each layer to solve these two problems.",

author = "M. Fusco and E. Semsar-Kazerooni and J. Ploeg and {van de Wouw}, N.",

year = "2016",

doi = "10.1109/IVS.2016.7535414",

language = "English",

pages = "382--387",

booktitle = "2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2016 IEEE Intelligent Vehicles Symposium, IV 2016, IV 2016 ; Conference date: 19-06-2016 Through 22-06-2016",

}

Fusco, M, Semsar-Kazerooni, E, Ploeg, J & van de Wouw, N 2016, Vehicular platooning : multi-layer consensus seeking. in 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Institute of Electrical and Electronics Engineers, Piscataway, pp. 382-387, 2016 IEEE Intelligent Vehicles Symposium, IV 2016, Gothenburg, Sweden, 19/06/16. https://doi.org/10.1109/IVS.2016.7535414

Vehicular platooning : multi-layer consensus seeking. / Fusco, M.; Semsar-Kazerooni, E.; Ploeg, J. et al.
2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden. Piscataway: Institute of Electrical and Electronics Engineers, 2016. p. 382-387.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

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AU - Semsar-Kazerooni, E.

AU - Ploeg, J.

AU - van de Wouw, N.

PY - 2016

Y1 - 2016

N2 - In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider third-order systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing policy is rigorously addressed. The approach used is both multi-layered and consensus-based. The multi-layer approach allows to separate the problem of estimating the desired trajectories from the problem of controlling the vehicles towards those trajectories while keeping a safety distance. Consensus algorithms will be employed on each layer to solve these two problems.

AB - In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider third-order systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing policy is rigorously addressed. The approach used is both multi-layered and consensus-based. The multi-layer approach allows to separate the problem of estimating the desired trajectories from the problem of controlling the vehicles towards those trajectories while keeping a safety distance. Consensus algorithms will be employed on each layer to solve these two problems.

U2 - 10.1109/IVS.2016.7535414

DO - 10.1109/IVS.2016.7535414

M3 - Conference contribution

SP - 382

EP - 387

BT - 2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

T2 - 2016 IEEE Intelligent Vehicles Symposium, IV 2016

Y2 - 19 June 2016 through 22 June 2016

ER -

Vehicular platooning : multi-layer consensus seeking

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