A Hybrid Recursive Implementation of Broad Learning With Incremental Features

The broad learning system (BLS) paradigm has recently emerged as a computationally efficient approach to supervised learning. Its efficiency arises from a learning mechanism based on the method of least-squares. However, the need for storing and inverting large matrices can put the efficiency of such mechanism at risk in big-data scenarios....

An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the...

A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in...

Cyclic communication in adaptive strategies to platooning: the case of synchronized merging

Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication...

Establishing Platoons of Bidirectional Cooperative Vehicles with Engine Limits and Uncertain Dynamics

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...