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

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2072
Author(s):  
Andrés A. Peters ◽  
Francisco J. Vargas ◽  
Cristóbal Garrido ◽  
Cristóbal Andrade ◽  
Felipe Villenas
Keyword(s):  
Cooperative Control ◽  
Autonomous Agents ◽  
Low Cost ◽  
Cruise Control ◽  
Teaching And Research ◽  
Experimental Platform ◽  
Cooperative Adaptive Cruise Control ◽  
Multi Agent ◽  
The Individual ◽  
Local Speed

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.

Modeling of cooperative adaptive cruise control vehicle and its effect on traffic flow

2021 ◽  
pp. 2250022
Author(s):  
Jianzhong Chen ◽  
Yang Zhou ◽  
Jing Li ◽  
Huan Liang ◽  
Zekai Lv ◽  
...  
Keyword(s):  
Traffic Flow ◽  
Cooperative Control ◽  
Adaptive Cruise Control ◽  
Cruise Control ◽  
Lane Changing ◽  
Vehicle Communication ◽  
Traffic Efficiency ◽  
Vehicle To Vehicle ◽  
Road Capacity ◽  
Cooperative Adaptive Cruise Control

In this paper, an improved multianticipative cooperative adaptive cruise control (CACC) model is proposed based on fully utilizing multivehicle information obtained by vehicle-to-vehicle communication. More flexible, effective and practical spacing strategy is embedded into the model. We design a new lane-changing rule for CACC vehicles on the freeway. The rule considers that CACC vehicles are more inclined to form a platoon for coordinated control. Furthermore, we investigate the effect of CACC vehicles on two-lane traffic flow. The results demonstrate that introducing CACC vehicles into mixed traffic and forming CACC platoon to cooperative control can improve traffic efficiency and enhance road capacity to a certain extent.

Bayesian Agencies in Control

2011 ◽  
pp. 168-181
Author(s):  
Anet Potgieter ◽  
Judith Bishop
Keyword(s):  
Bayesian Networks ◽  
Autonomous Agents ◽  
Probabilistic Reasoning ◽  
Multi Agent Systems ◽  
Agent Architectures ◽  
Analysis And Design ◽  
Agent Systems ◽  
Interaction Protocols ◽  
Multi Agent ◽  
The Individual

Most agent architectures implement autonomous agents that use extensive interaction protocols and social laws to control interactions in order to ensure that the correct behaviors result during run-time. These agents, organized into multi-agent systems in which all agents adhere to predefined interaction protocols, are well suited to the analysis, design and implementation of complex systems in environments where it is possible to predict interactions during the analysis and design phases. In these multi-agent systems, intelligence resides in individual autonomous agents, rather than in the collective behavior of the individual agents. These agents are commonly referred to as “next-generation” or intelligent components, which are difficult to implement using current component-based architectures. In most distributed environments, such as the Internet, it is not possible to predict interactions during analysis and design. For a complex system to be able to adapt in such an uncertain and non-deterministic environment, we propose the use of agencies, consisting of simple agents, which use probabilistic reasoning to adapt to their environment. Our agents collectively implement distributed Bayesian networks, used by the agencies to control behaviors in response to environmental states. Each agency is responsible for one or more behaviors, and the agencies are structured into heterarchies according to the topology of the underlying Bayesian networks. We refer to our agents and agencies as “Bayesian agents” and “Bayesian agencies.”

Quadratic programming-based cooperative adaptive cruise control under uncertainty via receding horizon strategy

2021 ◽  
pp. 014233122199274
Author(s):  
Serdar Coskun ◽  
Cong Huang ◽  
Fengqi Zhang
Keyword(s):  
Quadratic Programming ◽  
Traffic Safety ◽  
Control Strategy ◽  
Cooperative Control ◽  
Adaptive Cruise Control ◽  
Transportation Systems ◽  
Longitudinal Motion ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control ◽  
Quadratic Programming Method

Cooperative longitudinal motion control can greatly contribute to safety, mobility, and sustainability issues in today’s transportation systems. This article deals with the development of cooperative adaptive cruise control (CACC) under uncertainty using a model predictive control strategy. Specifically, uncertainties arising in the system are presented as disturbances acting in the system and measurement equations in a state-space formulation. We aim to design a predictive controller under a common goal (cooperative control) such that the equilibrium from initial condition of vehicles will remain stable under disturbances. The state estimation problem is handled by a Kalman filter and the optimal control problem is formulated by the quadratic programming method under both state and input constraints considering traffic safety, efficiency, as well as driving comfort. In the sequel, adopting the CACC system in four-vehicle platoon scenarios are tested via MATLAB/Simulink for cooperative vehicle platooning control under different disturbance realizations. Moreover, the computational effectiveness of the proposed control strategy is verified with respect to different platoon sizes for possible real-time deployment in next-generation cooperative vehicles.

scholarly journals Emission Effects of Cooperative Adaptive Cruise Control: A Simulation Case Using SUMO

10.29007/fbb7 ◽  
2019 ◽  
Author(s):  
İsmet Gökşad Erdağı ◽  
Mehmet Ali Silgu ◽  
Hilmi Berk Çelikoğlu
Keyword(s):  
Traffic Flow ◽  
Autonomous Vehicles ◽  
Cooperative Control ◽  
Simulation Environment ◽  
Cruise Control ◽  
Road Vehicles ◽  
Cooperative Adaptive Cruise Control ◽  
Simulation Based ◽  
Micro Simulation ◽  
Vehicular Traffic Flow

The recent advances in adaptive control and autonomous vehicles have given rise to the studies on cooperative control of road vehicles, and the consequent effects on traffic flow performances. In this paper, we summarize our findings from a simulation-based solution of a problem that seeks the joint optimization of a number of link-based performances of vehicular traffic flow considering explicitly the emissions exhausted using the Eclipse SUMO micro-simulation environment in order to discuss the effectiveness of the penetration rates of cooperatively controlled vehicles in mixed traffic.

Doctoral Studies in Psychology in Spain

2003 ◽  
Vol 8 (1) ◽  
pp. 28-33
Author(s):  
Yolanda García Rodríguez
Keyword(s):  
Doctoral Programs ◽  
Legal Reform ◽  
The State ◽  
Teaching Program ◽  
Doctoral Studies ◽  
Public And Private ◽  
Teaching And Research ◽  
Doctoral Thesis ◽  
Critical Phase ◽  
The Individual

In Spain doctoral studies underwent a major legal reform in 1998. The new legislation has brought together the criteria, norms, rules, and study certificates in universities throughout the country, both public and private. A brief description is presented here of the planning and structuring of doctoral programs, which have two clearly differentiated periods: teaching and research. At the end of the 2-year teaching program, the individual and personal phase of preparing one's doctoral thesis commences. However, despite efforts by the state to regulate these studies and to achieve greater efficiency, critical judgment is in order as to whether the envisioned aims are being achieved, namely, that students successfully complete their doctoral studies. After this analysis, we make proposals for the future aimed mainly at the individual period during which the thesis is written, a critical phase in obtaining the doctor's degree. Not enough attention has been given to this in the existing legislation.

Smart Driving System for Improving Traffic Flow

2017 ◽  
Vol 7 (7) ◽  
pp. 236
Author(s):  
Rajesh Kumar Gupta ◽  
L. N. Padhy ◽  
Sanjay Kumar Padhi
Keyword(s):  
Traffic Flow ◽  
Traffic Congestion ◽  
Urban Areas ◽  
Adaptive Cruise Control ◽  
Human Perception ◽  
Cruise Control ◽  
Driving System ◽  
V2v Communication ◽  
Traffic Conditions ◽  
Cooperative Adaptive Cruise Control

Traffic congestion on road networks is one of the most significant problems that is faced in almost all urban areas. Driving under traffic congestion compels frequent idling, acceleration, and braking, which increase energy consumption and wear and tear on vehicles. By efficiently maneuvering vehicles, traffic flow can be improved. An Adaptive Cruise Control (ACC) system in a car automatically detects its leading vehicle and adjusts the headway by using both the throttle and the brake. Conventional ACC systems are not suitable in congested traffic conditions due to their response delay.  For this purpose, development of smart technologies that contribute to improved traffic flow, throughput and safety is needed. In today’s traffic, to achieve the safe inter-vehicle distance, improve safety, avoid congestion and the limited human perception of traffic conditions and human reaction characteristics constrains should be analyzed. In addition, erroneous human driving conditions may generate shockwaves in addition which causes traffic flow instabilities. In this paper to achieve inter-vehicle distance and improved throughput, we consider Cooperative Adaptive Cruise Control (CACC) system. CACC is then implemented in Smart Driving System. For better Performance, wireless communication is used to exchange Information of individual vehicle. By introducing vehicle to vehicle (V2V) communication and vehicle to roadside infrastructure (V2R) communications, the vehicle gets information not only from its previous and following vehicle but also from the vehicles in front of the previous Vehicle and following vehicle. This enables a vehicle to follow its predecessor at a closer distance under tighter control.

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