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A New Linear Platoon Model Based on Reactive Multi-Agent Systems

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In Proc. of The 23rd IEEE International Conference on Tools with Artificial Intelligence ICTAI, IEEE Computer Society, 2011.
This paper presents a reactive multi agent approach to the platoon control problem for the linear configuration. In our case, a platoon is a train of vehicles composed of a head vehicle and a variable number of followers. Vehicle-to vehicle coupling is virtual. The head vehicle is human-driven or autonomous, whereas each follower vehicle controls its movement by interacting only with the preceding one. To this end, platoon control was designed as a reactive multi agent system where each follower vehicle is an agent. Each agent behavior is specified by a physics inspired interaction model, which allows to compute vehicle speed and direction from a single perception: the distance to the preceding vehicle. Platoon stability emerges as a global result of individual interactions. We present the physics inspired interaction model together with a safety verification case study and simulations results.
Vehicle platoons, reactive agents, physics- inspired interaction model, verification, simulation
Publication Category:
International conference with proceedings
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