Comparison of Simple Strategies for Vehicular Platooning With Lossy Communication

This paper studies vehicle platooning with communication channels subject to random data loss. We focus on homogeneous discrete-time platoons in a predecessor-following topology constant time headway policy. assume that each agent the platoon sends its current position immediate follower through lossy channel modeled as Bernoulli process. To reduce negative effects of loss over string stability and performance platoon, we use simple strategies modify measurement, error, control signals feedback loop, vehicle, when dropout occurs. Such are based holding previous value, dropping zero, or replacing prediction linear extrapolation. performed simulation-based comparison among set different strategies, found some favorable terms performance, while others present improvements for stabilization. These results strongly suggest proper design compensation schemes communications interconnected multi-agent systems plays an important role their scalability properties.