Work

A Resource Allocation Algorithm for Formation Control of Connected Vehicles

Year: 2022

Type: article

Abstract: A formation control problem is considered for a network of connected vehicles communicating over a 5G C-V2X communication system with limited network resources. To solve this problem, we propose a new combined control - resource allocation scheme to make the vehicles achieve the targeted formation. We concentrate on the formulation of the formation control problem under the constraints imposed by the communication system. We state the resource allocation problem and present an optimization algorithm to select the transmitting agents. The proposed algorithm allows to assign the network resources in a centralized way to ensure the convergence towards the desired formation while preserving the network connectivity.

Source: IEEE Control Systems Letters

DOI: 10.1109/lcsys.2022.3187824

Authors: Adel Bechihi, Elena Panteley, Pierre Duhamel, Arnaud Bouttier

Institutions: Centre National de la Recherche Scientifique, Université Paris-Saclay, Laboratoire des signaux et systèmes, CentraleSupélec, Mitsubishi Electric (France)

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: green

Funder: Agence Nationale de la Recherche