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This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance‐based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance‐based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane‐change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results. [ABSTRACT FROM AUTHOR]

In this paper, we consider the problem of decentralized cohesive motion control of a formation of autonomous vehicles or robots moving in three dimensions, where the formation is required to move from its initial setting (defined by the positions of the agents in the formation) to a final desired setting and, during this motion, maintain its formation geometry defined by the initial distances between the agent pairs. We propose a distributed control scheme to solve this problem utilizing the notions of graph rigidity and persistence as well as techniques of virtual target tracking and smooth switching. The distributed control scheme is developed by modeling the agent kinematics as single-velocity integrator; nevertheless, extension to the cases with practical kinematic and dynamic models of fixed-wing autonomous aerial vehicles and quadrotors is discussed. In this context, we examine the maintenance of geometric formation of a swarm of autonomous flight vehicles. The developed coordination and control schemes are verified via a number of simulations. [ABSTRACT FROM PUBLISHER]

This paper presents a practical formation motion control scheme for robotic swarms based on single-view distance estimation, which is performed using a single nonsophisticated camera on each robot agent, and the prior information about the heights of the robots and other objects in the environment. Here, a nonsophisticated camera means one that has limited field of view and limited resolution. First, the vision mechanism is analyzed, and a single-view distance estimation scheme is designed. Then, a set of decentralized control laws, to be incorporated with distance estimation scheme, is introduced to move the robotic swarm in formation from an arbitrary initial position to an arbitrary final position without deforming the formation shape. The robots do not have any global positioning sensors, and they do not communicate with each other. The stability and performance of the overall system are analyzed mathematically. Later, practical issues are discussed regarding the proposed scheme, and the effects of delay and quantization in distance estimation are formally analyzed. Finally, we present experimental results demonstrating the performance of the proposed control scheme in real time. [ABSTRACT FROM PUBLISHER]