A strategy for traffic safety of vehicular platoons under connection loss and time-delay

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dc.creatorDaniel Almeida Godinho
dc.creatorArmando Alves Neto
dc.creatorLeonardo Amaral Mozelli
dc.creatorFernando de Oliveira Souza
dc.date.accessioned2025-05-27T13:57:26Z
dc.date.accessioned2025-09-08T23:04:27Z
dc.date.available2025-05-27T13:57:26Z
dc.date.issued2023
dc.identifier.doi10.1109/tits.2023.3258633
dc.identifier.issn15580016
dc.identifier.urihttps://hdl.handle.net/1843/82514
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofIEEE Transactions on Intelligent Transportation Systems
dc.rightsAcesso Aberto
dc.subjectVeículos autônomos
dc.subject.otherProtocols , Resilience , Topology , Delays , Stability criteria , Safety , Robustness
dc.subject.otherAutonomous vehicular platoon , self-healing systems , robotic resilience , connection loss
dc.subject.otherTraffic Safety , Vehicular Platoon , Optimal Control , Multi-agent , State Machine , Traffic Light , Control Protocol , Directed Acyclic Graph , Communication Range , Spacing Error , Nonlinear Simulations , Maintenance Problems , Static Conditions , Red Light , Team Sports , Equilibrium Point , Asymptotically Stable , Distributed Control , Communication Links , Communication Delay , Time-varying Delays , Communication Topology , Virtual Reference , Formal Errors , Vehicular Ad Hoc Networks , Lead Vehicle , Merge Operation , Virtual State , Virtual Leader , Lane Change
dc.titleA strategy for traffic safety of vehicular platoons under connection loss and time-delay
dc.typeArtigo de periódico
local.citation.epage6638
local.citation.issue6
local.citation.spage6627
local.citation.volume24
local.description.resumoAutonomous platoons are good alternatives for cargo transportation, with many approaches to safety and efficiency issues. In the last decades, much effort has been employed in this context, with solutions ranging from low-level control laws to learning strategies. Although some papers have concentrated on methods robust to disturbances or resilient to disruptions, most of the current literature assumes that the platoon starts and remains connected all the time, even when subjecting vehicles to limited communication ranges and time-delay. Therefore, in this paper, we address the problem of connectivity maintenance and stability of platoons under the complete disconnection of vehicles. The main goal is to increase the tolerance to agent exits, external elements (such as traffic lights and human-driven vehicles), and non-ideal initial conditions, improving traffic safety in mixed traffic scenarios. By modeling the network connection as a Directed Acyclic Graph, we use a state-machine policy to recover connectivity and regulate the spacing distance to other vehicles under heterogeneous time-delays. We demonstrate that this state alteration can be interpreted as a reference tracking problem and propose a design procedure that provides stability and zero spacing error in steady-state. Our control protocol allows vehicles to reach a consensus with the team, even when they start disconnected from other ones. Results with agent-based and nonlinear simulations illustrate the effectiveness of our approach.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/10081217

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