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Baldi, S. (author), Liu, Di (author), Jain, V. (author), Yu, Wenwu (author)In adaptive platooning strategies proposed in literature to handle uncertain and nonidentical uncertain vehicle dynamics (uncertain heterogeneous platoons) two aspects requiring proper design are neglected: bidirectional interaction among vehicles which might lead to loss of string stability, and engine saturation constraints which might lead...journal article 2021