Distributed Nonlinear Model Predictive Control (DNMPC) for vehicle platooning with Cut-in/Cut-out Maneuvers
This is the code for the following project whose paper is:
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Mohammad Hossein Basiri, Benyamin Ghojogh, Nasser L. Azad, Sebastian Fischmeister, Fakhri Karray, Mark Crowley. "Distributed nonlinear model predictive control and metric learning for heterogeneous vehicle platooning with cut-in/cut-out maneuvers." In 2020 59th IEEE Conference on Decision and Control (CDC), pp. 2849-2856. IEEE, 2020.
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Link of paper: https://ieeexplore.ieee.org/abstract/document/9304180
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Link of paper in arXiv: https://arxiv.org/abs/2004.00417
This project is an extension of the following paper to dynamic cut-in/cut-out maneuvers:
- Yang Zheng, Shengbo Eben Li, Keqiang Li, Francesco Borrelli, J. Karl Hedrick. "Distributed model predictive control for heterogeneous vehicle platoons under unidirectional topologies." IEEE Transactions on Control Systems Technology 25, no. 3 (2016): 899-910.
This project/code is worked on an existing code of the above paper in the following link: https://github.com/zhengy09/DMPC_for_platoons