Platooning merging maneuvers in the presence of parametric uncertainty

Simone Baldi (1) , Muhammad Ridho Rosa (1) , Paolo Frasca (2) , Elias Kosmatopoulos (3, 4)

1 TU Delft - Delft University of Technology
2 NECS - Networked Controlled Systems
3 DUTH - Democritus University of Thrace
4 ITT - Informatics & Telematics Insitute [Thessaloniki]

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.

Domaines: Optimisation et contrôle [math.OC]; Automatique / Robotique

Simone Baldi, Muhammad Ridho Rosa, Paolo Frasca, Elias Kosmatopoulos. Platooning merging maneuvers in the presence of parametric uncertainty. NecSys 2018 - 7th IFAC Workshop on Distributed Estimation and Control in Networked Systems, Aug 2018, Groningen, Netherlands. pp.1-6, ⟨10.1016/j.ifacol.2018.12.026⟩. ⟨hal-01945760⟩