A minimal sensing and communication control strategy for adaptive platooning

Several cooperative driving strategies proposed in literature, sometimes known as adaptive cruise control strategies, assume that both relative spacing and velocity with preceding vehicle are available from on-board sensors (laser or radar). Alternatively, these communication of states acceleration inputs vehicle. However, practice, can only measure (since getting requires additional filtering algorithms); also, reducing the number variables communicated is crucial to save bandwidth. In this work we show that, after framing task a distributed model reference problem, platooning be achieved minimal sensing scenario, is, by removing measurements states. framework propose, parametric uncertainty taken into account appropriately designed laws. The illustrated shown flexible several standard architectures used (one-vehicle look-ahead topology, leader-to-all multivehicle topology).