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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2305.17443 |
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| _version_ | 1866913240604213248 |
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| author | Liu, Di Mair, Sebastian Yang, Kang Baldi, Simone Frasca, Paolo Althoff, Matthias |
| author_facet | Liu, Di Mair, Sebastian Yang, Kang Baldi, Simone Frasca, Paolo Althoff, Matthias |
| contents | This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that self-organization promotes resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these causes of impairments. In the presence of acceleration limits, resilience is achieved by self-organizing to a common constrained group behavior that prevents the vehicles from hitting their acceleration limits. In the presence of communication failures, resilience is achieved by self-organizing to a common group observer to estimate the missing information. Stability of the self-organization mechanism is studied analytically, and correctness with respect to traffic actions (e.g. emergency braking, cut-in, merging) is realized through a provably-correct safety layer. Numerical validations via the platooning toolbox OpenCDA in CARLA and via the CommonRoad platform confirm improved performance through self-organization and the provably-correct safety layer. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2305_17443 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design Liu, Di Mair, Sebastian Yang, Kang Baldi, Simone Frasca, Paolo Althoff, Matthias Systems and Control This work proposes provably-correct self-organizing strategies for platoons of heterogeneous vehicles. We refer to self-organization as the capability of a platoon to autonomously homogenize to a common group behavior. We show that self-organization promotes resilience to acceleration limits and communication failures, i.e., homogenizing to a common group behavior makes the platoon recover from these causes of impairments. In the presence of acceleration limits, resilience is achieved by self-organizing to a common constrained group behavior that prevents the vehicles from hitting their acceleration limits. In the presence of communication failures, resilience is achieved by self-organizing to a common group observer to estimate the missing information. Stability of the self-organization mechanism is studied analytically, and correctness with respect to traffic actions (e.g. emergency braking, cut-in, merging) is realized through a provably-correct safety layer. Numerical validations via the platooning toolbox OpenCDA in CARLA and via the CommonRoad platform confirm improved performance through self-organization and the provably-correct safety layer. |
| title | Resilience in Platoons of Cooperative Heterogeneous Vehicles: Self-organization Strategies and Provably-correct Design |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2305.17443 |