Platooning merging maneuvers in the presence of parametric uncertainty⁎

Journal article (2018)

Authors

S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Paolo Frasca Université Grenoble Alpes, University of Twente
Elias B. Kosmatopoulos Informatics & Telematics Institute (ITI-CERTH), Democritus University of Thrace
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2018 S. Baldi, Muhammad Ridho Rosa, Paolo Frasca, Elias B. Kosmatopoulos
DOI: https://doi.org/10.1016/j.ifacol.2018.12.026
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Published Date

2018

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

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.