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Journal Articles

Decentralized Swarm Control in Communication-Constrained Environments Using a Blended Leader Follower-Artificial Potential Field With Biologically Inspired Interactions

Christopher Goodin, Greg Henley, Lucas Cagle, Brandon Black, Justin Carrillo, David McInnis
Journal: Journal of Autonomous Vehicles and Systems
Publisher: ASME
Article Type: Research Papers
J. Auton. Veh. Sys. October 2023, 3(4): 041001.
Paper No: JAVS-23-1028
https://doi.org/10.1115/1.4065533
Published Online: June 13, 2024
...Christopher Goodin; Greg Henley; Lucas Cagle; Brandon Black; Justin Carrillo; David McInnis This paper presents a study of how communication ranges influence the performance of a new decentralized control method for swarms of autonomously navigating ground vehicles that uses a blended leader...
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Topics: Vehicles
Journal Articles

Simulated and Experimental Verification of Fuel-Efficient Truck Platooning With Model Predictive Control Under Grade and Traffic Disturbances

Tyler Ard, Bibin Pattel, Karla Fuhs, Ardalan Vahidi, Hoseinali Borhan
Journal: Journal of Autonomous Vehicles and Systems
Publisher: ASME
Article Type: Research Papers
J. Auton. Veh. Sys. July 2022, 2(3): 031003.
Paper No: JAVS-22-1031
https://doi.org/10.1115/1.4062532
Published Online: June 7, 2023
... distance tracking error from a reference time headway T and velocity harmonization with the V2V-communicated leading truck velocity v r —similar to the baseline CACC of Eq. (1) . (9) J e = q d ( d i − T v i ) 2 + q v ( v i − v r , i ) 2...
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Topics: Fuel efficiency, Traffic, Trucks, Predictive control, Fuels, Roads, Engines, Simulation, Braking, Cycles