Platooning over packet-dropping links

Seshadhri, Subathra; Ayyagari, Ramakalyan

doi:10.1504/ijvas.2011.038179

Cited by 10 publications

(5 citation statements)

References 16 publications

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“…Accurate maintenance of a geometric configuration among multiple agents moving as a team promises less expensive, more capable systems that can accomplish objectives which might have been impossible with a single agent. The concept of formation control has been studied extensively in the literature with application to the coordination among robots [21][22][23][24][25][26][27][28][29][30], UAVs [31], AUVs [32], satellites [33], aircraft [34], and space craft [35]. There are multiple advantages to using formations of agents.…”

Section: Control Loops Integrated With Communication Channels For Infmentioning

confidence: 99%

Robot Navigation and Guidance

Raol¹

2016

Mobile Intelligent Autonomous Systems

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Section: Control Loops Integrated With Communication Channels For Infmentioning

confidence: 99%

Robot Navigation and Guidance

Raol¹

2016

Mobile Intelligent Autonomous Systems

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“…In particular we are interested in a platoon of vehicles that autonomously navigates a track in one direction, maintaining a predetermined inter-vehicle distance while traveling at a desired speed. These types of configurations are suitable for modeling AHS where the vehicles will rarely overtake other members of the platoon, unless they are merging or departing from the formation [ 12 , 13 , 14 ]. The theoretical aspect of such problem has been widely studied, including configurations where string stability is guaranteed.…”

Section: Introductionmentioning

confidence: 99%

PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control

Peters

Vargas

Garrido

et al. 2021

Sensors

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In this paper, we present the development of a low-cost multi-agent system experimental platform for teaching, and research purposes. The platform consists of train-like autonomous agents equipped with local speed estimation, distance sensing to their nearest predecessor, and wireless communications with other agents and a central coordinator. The individual agents can be used for simple PID experiments in a classroom or laboratory setting, while a collection of agents are capable of performing decentralized platooning with cooperative adaptive cruise control in a variety of settings, the latter being the main goal of the platform. The agents are built from low cost components and programmed with open source software, enabling teaching experiences and experimental work with a larger number of agents that would otherwise be possible with other existing solutions. Additionally, we illustrate with experimental results some of the teaching activities that the platform is capable of performing.

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Section: Introductionmentioning

confidence: 99%

Formation Control in Multi-Agent Systems Over Packet Dropping Links

Srinivasan

Ayyagari²

2016

Mobile Intelligent Autonomous Systems

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Teams of autonomous agents working in coordination achieve greater efficiency and operation capability than agents performing solo-missions. Multi-agent systems have been investigated widely in the recent past owing to their wide applications and advantages. Formation control is one among the problems being investigated in both control and multi-agent systems paradigm. In formation control teams of agents moving together are required to maintain a pre-defined geometric configuration. Formation control problems have application in vehicle control, unmanned air-craft vehicles (UAVs), consensus and formation control of robots, in industrial robots to name a few. In order to maintain formation, agents in a team need to exchange information like relative displacement, velocity etc. These variables that are exchanged among agents in a team for maintaining formation are called coordination variables, and are used to achieve coordination among agents. Hence, there arises a need to transmit these coordination variables among all the agents in the network. One may visualize that any loss in coordination variable can jeopardize the formation. Communication channels are used for information exchange among agents and are the enabling factor of formation control algorithms.One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover, there is a move to use wireless channels in formation control applications. It has been found in practice that packet losses are more pronounced in wireless channels, than their wired counterparts.In our analysis, we first show that packet loss may result in loss of rigidity. In turn this causes the entire formation to fail. Later, we present an estimation based formation control algorithm that is robust to packet loss among agents. The proposed estimation algorithm employs minimal spanning tree algorithm to compute the estimate of the node variables (coordination variables). Consequently, this reduces the communication overhead required for information exchange. Later, using simulation, we verify the data that is to be transmitted for optimal estimation of these variables in the event of a packet loss. Finally, the effectiveness of the proposed algorithm is illustrated using suitable simulation example.

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Platooning over packet-dropping links

Cited by 10 publications

References 16 publications

Robot Navigation and Guidance

Robot Navigation and Guidance

PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control

Formation Control in Multi-Agent Systems Over Packet Dropping Links

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