@article{ref1,
title="Adaptive multi-agents synchronization for collaborative driving of autonomous vehicles with multiple communication delays",
journal="Transportation research part C: emerging technologies",
year="2018",
author="Petrillo, Alberto and Salvi, Alessandro and Santini, Stefania and Valente, Antonio Saverio",
volume="86",
number="",
pages="372-392",
abstract="The development of automated and coordinated driving systems (platooning) is an hot topic today for vehicles and it represents a challenging scenario that heavily relies on distributed control in the presence of wireless communication network. To actuate platooning in a safe way it is necessary to design controllers able to effectively operate on informations exchanged via Inter-Vehicular Communication (IVC) systems despite the presence of unavoidable communication impairments, such as multiple time-varying delays that affect communication links. To this aim in this paper we propose a novel distributed adaptive collaborative control strategy that exploits information coming from connected vehicles to achieve leader synchronization and we analytically demonstrate its stability with a Lyapunov-Krasovskii approach. The effectiveness of the proposed strategy is shown via numerical simulations in Plexe, a state of the art IVC and mobility simulator that includes basic building blocks for platooning.<p /> <p>Language: en</p>",
language="en",
issn="0968-090X",
doi="10.1016/j.trc.2017.11.009",
url="http://dx.doi.org/10.1016/j.trc.2017.11.009"
}