Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles operating i
n an open transportation system. Our approach combines recent insights in constraint-driven optimal control with the physical aerodynamic interactions between vehicles in a highway setting. The result is a set of equations that describes when platooning is an appropriate strategy, as well as a descriptive optimal control law that yields emergent platooning behavior. Finally, we demonstrate these properties in simulation and with a real-time experiment in a scaled testbed.
In this paper, we propose an approach for solving an energy-optimal goal assignment problem to generate the desired formation in multi-agent systems. Each agent solves a decentralized optimization problem with only local information about its neighbo
ring agents and the goals. The optimization problem consists of two sub-problems. The first problem seeks to minimize the energy for each agent to reach certain goals, while the second problem entreats an optimal combination of goal and agent pairs that minimizes the energy cost. By assuming the goal trajectories are given in a polynomial form, we prove the solution to the formulated problem exists globally. Finally, the effectiveness of the proposed approach is validated through the simulation.
