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Author Gordon, M.A.; Vargas, F.J.; Peters, A.A.
Title Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication Type
Year (up) 2021 Publication IEEE Access Abbreviated Journal IEEE Access
Volume 9 Issue Pages 103996-104010
Keywords Stability criteria; Numerical stability; Topology; Stochastic processes; Scalability: Loss measurement; Measurement uncertainty; Vehicular platoon control; lossy channels; string stability; constant time-headway; networked systems
Abstract This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology with a constant time headway policy. We assume that each agent in the platoon sends its current position to the immediate follower through a lossy channel modeled as a Bernoulli process. To reduce the negative effects of data loss over the string stability and performance of the platoon, we use simple strategies that modify the measurement, error, and control signals of the feedback control loop, in each vehicle, when a dropout occurs. Such strategies are based on holding the previous value, dropping to zero, or replacing with a prediction based on a simple linear extrapolation. We performed a simulation-based comparison among a set of different strategies, and found that some strategies are favorable in terms of performance, while some others present improvements for string stabilization. These results strongly suggest that proper design of compensation schemes for the communications of interconnected multi-agent systems plays an important role in their performance and their scalability properties.
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ISSN 2169-3536 ISBN Medium
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Notes WOS:000679523500001 Approved
Call Number UAI @ alexi.delcanto @ Serial 1442
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