Resilient Estimation and Control on k-Nearest Neighbor Platoons : A Network-Theoretic Approach

• This paper is concerned with the network-theoretic properties of so-called k-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with k vehicles, both in front and behind. The network-theoretic properties analyzed in this paper play major roles in quantifying the resilience and robustness of three generic distributed estimation and control algorithms against communication failures and disturbances, namely resilient distributed estimation, resilient distributed consensus, and robust network formation. Based on the results for the connectivity measures of the k-nearest neighbor platoon, we show that extending the traditional platooning topologies (which were only based on interacting with nearest neighbors) to k-nearest neighbor platoons increases the resilience of distributed estimation and control algorithms to both communication failures and disturbances. 

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

control

Network connectivity

Network robustness

resilient estimation

Control engineering

Motion compensation

Nearest neighbor search

Robustness (control systems)

Communication failure

Distributed consensus

Distributed estimation

K-nearest neighbors

Nearest neighbors

Vehicular platoons

Topology

Publikations- och innehållstyp

ref (ämneskategori)

kon (ämneskategori)