Two-Step Asynchronous Iterative Formation Control for Heterogeneous Vehicles in Highway Scenarios

Massimo Zambelli; Martin Steinberger; Martin Horn; Antonella Ferrara

doi:10.1109/TIV.2021.3137884

Two-Step Asynchronous Iterative Formation Control for Heterogeneous Vehicles in Highway Scenarios

Massimo Zambelli, Martin Steinberger, Martin Horn, Antonella Ferrara

Institute of Automation and Control (4430)

Research output: Contribution to journal › Article › peer-review

Abstract

In this article a novel algorithm for the on-line control of formations of heterogeneous vehicles is proposed for highway traffic scenarios. A two-step iterative strategy relying on both a discrete and a continuous space representation, using Dynamic Programming and reference tracking via Model Predictive Control, is formulated. It allows the creation and arbitrary
reshaping of vehicle formations in a unified context, providing an applicability in a wide range of practical situations. Only position measurements and basic communication capabilities for global coordination are required for the automated vehicles. Scalability and flexibility are achieved by the underlying decoupled structure of the algorithm, while an asynchronous functioning is enforced due to trigger signals that are exchanged between the vehicles and the coordinator. Different scenarios are simulated and discussed to evidence the effectiveness of the proposed strategy.

Original language	English
Pages (from-to)	3119-3128
Number of pages	10
Journal	IEEE Transactions on Intelligent Vehicles
Volume	8
Issue number	4
DOIs	https://doi.org/10.1109/TIV.2021.3137884
Publication status	Published - 2023

Keywords

Formation Control
Formation Reshaping
Coordinated Control
Multi-Agent Systems
Dynamic Programming
Model Predictive Control

Access to Document

10.1109/TIV.2021.3137884Licence: CC BY 4.0

Cite this

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title = "Two-Step Asynchronous Iterative Formation Control for Heterogeneous Vehicles in Highway Scenarios",

abstract = "In this article a novel algorithm for the on-line control of formations of heterogeneous vehicles is proposed for highway traffic scenarios. A two-step iterative strategy relying on both a discrete and a continuous space representation, using Dynamic Programming and reference tracking via Model Predictive Control, is formulated. It allows the creation and arbitraryreshaping of vehicle formations in a unified context, providing an applicability in a wide range of practical situations. Only position measurements and basic communication capabilities for global coordination are required for the automated vehicles. Scalability and flexibility are achieved by the underlying decoupled structure of the algorithm, while an asynchronous functioning is enforced due to trigger signals that are exchanged between the vehicles and the coordinator. Different scenarios are simulated and discussed to evidence the effectiveness of the proposed strategy.",

keywords = "Formation Control, Formation Reshaping, Coordinated Control, Multi-Agent Systems, Dynamic Programming, Model Predictive Control",

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AU - Steinberger, Martin

AU - Horn, Martin

AU - Ferrara, Antonella

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AB - In this article a novel algorithm for the on-line control of formations of heterogeneous vehicles is proposed for highway traffic scenarios. A two-step iterative strategy relying on both a discrete and a continuous space representation, using Dynamic Programming and reference tracking via Model Predictive Control, is formulated. It allows the creation and arbitraryreshaping of vehicle formations in a unified context, providing an applicability in a wide range of practical situations. Only position measurements and basic communication capabilities for global coordination are required for the automated vehicles. Scalability and flexibility are achieved by the underlying decoupled structure of the algorithm, while an asynchronous functioning is enforced due to trigger signals that are exchanged between the vehicles and the coordinator. Different scenarios are simulated and discussed to evidence the effectiveness of the proposed strategy.

KW - Formation Control

KW - Formation Reshaping

KW - Coordinated Control

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KW - Dynamic Programming

KW - Model Predictive Control

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JO - IEEE Transactions on Intelligent Vehicles

JF - IEEE Transactions on Intelligent Vehicles

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