Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies
<|reference_start|>Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies: This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.<|reference_end|>
@article{shaham2024distributed,
    title={Distributed Model Predictive Control for Heterogeneous Platoons with
  Affine Spacing Policies and Arbitrary Communication Topologies},
    author={Michael H. Shaham and Taskin Padir},
    journal={arXiv preprint arXiv:2404.12441},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.12441},
    primaryClass={cs.MA cs.RO cs.SY eess.SY math.OC}
}