Distributed Formation Control for Managing CAV Overtaking and Intersection Maneuvers

While intelligent transport systems are preparing to welcome connected and automated vehicles (CAVs), it is uncertain which algorithms should be employed manage them. In particular, even though remarkable improvements in telecommunication technologies, such as vehicle-to-everything (V2X), enable communication computation sharing among different agents, e.g. infrastructures, distributed control still not fully exploited. However, methodologies have the potential perfectly blend with very nature of CAVs alleviate traffic management units from centralized computational burden. this paper, we propose a formation algorithm vehicle trajectories for two scenarios: 1) overtaking, 2) intersection control. We include simulation experiment show some preliminary results discuss limitations future steps.