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A distributed consensus controller for platooning of vehicles in presence of communication delays

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Project for Elective in Robotics: Control of Multi-Robot Systems, 2019-2020, Università Roma La Sapienza.

Approach

Our goal is simulate the control model described the following resarch paper:

  • Di Bernardo, M., Salvi, A., & Santini, S. (2014). Distributed consensus strategy for platooning of vehicles in the presence of time-varying heterogeneous communication delays.IEEE Transactions on Intelligent Transportation Systems,16(1), 102-112

Main aspects:

  1. A set of vehicles that are required to drive as a platoon
  2. Only front and rear vehicle communication
  3. Distance and velocity constraints

Project status

Completed

Running the test

run init_test.m

Video Demo

SC2 Video

Team

  • Michele Ciciolla

  • Josè Bustamante Julca

Documentation

You can read our final technical documentation about this project here DOCUMENTATION

References

[1] M. di Bernardo, A. Salvi and S. Santini, "Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays, Feb. 2015