Vehicular Platooning: Multi-Layer Consensus Seeking

In this paper, a novel Multi-Layer Consensus Seeking (MLCS) framework is proposed, focusing on the vehicular platooning problem. The vehicles are described by linear heterogeneous dynamics. For example, we consider thirdorder systems, however the algorithms discussed are suitable for any higher-order. A velocity-dependent inter-vehicle spacing policy is rigorously addressed. The approach used is both multilayered and consensus-based. The multi-layer approach allows o separate the problem of estimating the desired trajectories from the problem of controlling the vehicles towards those trajectories while keeping a safety distance. Consensus algorithms will be employed on each layer to solve these two problems