A Graph Theoretic Approach to the Robustness of k-Nearest Neighbor\n Vehicle Platoons

2016/07/06 by Mohammad Pirani, Ehsan Hashemi, Pirani, Mohammad +7 · 1 citation
Engineering · #FOS: Mathematics #Optimization and Control (math.OC) #Slime Mold and Myxomycetes Research #Traffic control and management #Vehicular Ad Hoc Networks (VANETs)

paper · pdf · doi:10.48550/arxiv.1607.01821

openalex publication_date 2016/07/06 · openalex created_date 2022/10/03 · openalex updated_date 2026/07/28

Abstract

We consider a graph theoretic approach to the performance and robustness of a\nplatoon of vehicles, where each vehicle communicates with its k-nearest\nneighbors. In particular, we quantify the platoon's stability margin,\nrobustness to disturbances (in terms of system \H_\∞ norm),\nand maximum delay tolerance via graph-theoretic notions such as nodal degrees\nand (grounded) Laplacian matrix eigenvalues. Our results show that there is a\ntrade-off between robustness to time delay and robustness to disturbances. Both\nfirst-order dynamics (reference velocity tracking) and second-order dynamics\n(controlling inter-vehicular distance) are analyzed in this direction.\nTheoretical contributions are confirmed via simulation results.\n

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