Platoons Coordination Based on Decentralized Higher Order Barrier Certificates

Abstract

This paper presents control strategies based on time-varying convergent higher order control barrier functions for the coordination of networks of platoons. This network could be modelled by a class of leader-follower multi-agent systems, where the leaders have knowledge on the associated tasks and control the performance of their platoon involved vehicles. The followers are not aware of the tasks, and do not have any control authority to reach them. They follow their platoon leader commands for the task satisfaction. Signal temporal logic (STL) tasks are defined for the platoons coordination. Robust solutions for the task satisfaction, based on the leader's accessibility to the follower vehicles' states are suggested. In addition, using the notion of higher order barrier functions, decentralized barrier certificates for each vehicle evolving in a formation dynamic structure are proposed. Our approach finds solutions to guarantee the satisfaction of STL tasks independent of the agents' initial conditions.