Vehicular platooning : multi-layer consensus seeking

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
2 Downloads (Pure)


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 languageEnglish
Title of host publication2016 IEEE Intelligent Vehicles Symposium, 19-22 June 2016, Gothenburg, Sweden
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Publication statusPublished - 2016
Event2016 IEEE Intelligent Vehicles Symposium, IV 2016 - Gothenburg, Sweden
Duration: 19 Jun 201622 Jun 2016


Conference2016 IEEE Intelligent Vehicles Symposium, IV 2016
Abbreviated titleIV 2016


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