Distributed Formation Control for Managing CAV Overtaking and Intersection Maneuvers

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While intelligent transport systems are preparing to welcome connected and automated vehicles (CAVs), it is uncertain which algorithms should be employed to manage them. In particular, even though remarkable improvements in telecommunication technologies, such as vehicle-to-everything (V2X), enable communication and computation sharing among different agents, e.g. vehicles and infrastructures, distributed control algorithms are still not fully exploited. However, such methodologies have the potential to perfectly blend with the very nature of CAVs and alleviate traffic management units from the centralized computational burden. In this paper, we propose a formation control algorithm to control vehicle trajectories for two scenarios: 1) overtaking, and 2) intersection control. We include a simulation experiment to show some preliminary results and discuss limitations and future steps.
Original languageEnglish
Pages (from-to)198-203
Number of pages6
Issue number13
Publication statusPublished - 2022
MoE publication typeA4 Conference publication
EventIFAC Conference on Networked Systems - Zürich, Switzerland
Duration: 5 Jul 20227 Jul 2022
Conference number: 9


  • Multi-vehicle systems
  • distributed control
  • connected
  • automated vehicles
  • formation control
  • motion planning


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