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Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study

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 نشر من قبل Logan Beaver
 تاريخ النشر 2021
  مجال البحث الهندسة المعلوماتية
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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 in 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.



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