KHALIFA , Ahmed

In this research, a general control framework for platooning in urban environment is proposed. A consensus-based control law is described taking into account the nature of traveling in urban environment, that is the human driven leader travels with variable velocity. In addition, the proposed control law does not depend on the predecessor...

In this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle...

This paper proposes a distributed longitudinal controller for car-like vehicles platooning that travel in an urban environment. The presented control strategy combines the platoon maintaining, gap closure, and collision avoidance functionality into a unified control law. A consensus-based controller designed in the path coordinates is the basis...

This paper proposes a longitudinal control framework for platooning in an urban environment. The targetted application is to redistribute vehicles involved in car-sharing systems, where only the leader vehicle is human-driven. We propose a platoon model and control law considering actuator dynamics. This control relies on a hybrid Information...

In this paper, a distributed observer-based approach is proposed to control the longitudinal motion of car-like vehicle platoon moving in an urban environment. To the best of our knowledge, this is the first work presenting an observer-based platoon controller that combines the advantages of high traffic capacity and a minimum number of...