Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Vehicles

arXiv:2404.12474v1 Announce Type: new
Abstract: Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at some speed (set by the leader) while maintaining a safe distance from its neighbors. Many prior works have analyzed various controllers for platooning, most commonly linear feedback and distributed model predictive controllers. In this work, we introduce an algorithm for learning a stable, safe, distributed controller for a heterogeneous …

abstract arxiv autonomous autonomous vehicles cs.ai cs.lg cs.ma cs.ro cs.sy distributed drive eess.sy efficiency feedback highways leader neighbors prior safe safety set speed type vehicles