A Consensus Protocol for Connecting Automated Vehicles at Signal-Free Intersection
- Resource Type
- Conference
- Authors
- Difilippo, Gianvito; Fanti, Maria Pia; Marcello Mangini, Agostino
- Source
- 2022 IEEE 61st Conference on Decision and Control (CDC) Decision and Control (CDC), 2022 IEEE 61st Conference on. :6568-6573 Dec, 2022
- Subject
- Robotics and Control Systems
Robot kinematics
Consensus algorithm
Linear programming
Consensus protocol
Safety
Delays
Collision avoidance
- Language
- ISSN
- 2576-2370
This paper proposes a consensus protocol that a set of Autonomous Vehicles (AVs) can apply when they cross an intersection. The object is to avoid collisions and minimize the delay or the anticipation with respect to a forecast exit time from the intersection. The peculiarity of the proposed approach is not using a traffic manager and a coordinator of the vehicles. A large simulation campaign shows that the AVs are able to reach a solution in short time and with a small number of iterations.