Ultra reliable distributed control for cooperative vehicular cyber physical systems

Fotis Foukalas, Paul Pop

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Cooperative vehicular cyber physical systems (vCPSs) can shape a group of mobile robots that can accomplish a cooperative task using wireless communications and distributed control. To this end, such a cooperative task can be coordinated and managed by a distributed control plane that will be able to encapsulate the required functionality in a layered architecture providing the required interoperability. In this paper, we propose a distributed control plane that consists of the cooperative awareness layer, the communication layer and the distributed control layer. We deal with the distributed control for vCPS employing distributed model predictive control for leader-follower formation control. Next, the design of ultra reliable and low latency wireless communications is specified, where a distributed solution is devised to provide ultra reliable distributed control for cooperative vCPS. Simulation results are obtained in order to highlight the impact of reliability constraint to join/leave manoeuvre for the considered use case.

Original languageEnglish
Title of host publicationProceedings of 13th Annual IEEE International Systems Conference
PublisherIEEE
Publication date1 Apr 2019
Article number8836922
ISBN (Electronic)9781538683965
DOIs
Publication statusPublished - 1 Apr 2019
Event13th Annual IEEE International Systems Conference, SysCon 2019 - Orlando, United States
Duration: 8 Apr 201911 Apr 2019

Conference

Conference13th Annual IEEE International Systems Conference, SysCon 2019
CountryUnited States
CityOrlando
Period08/04/201911/04/2019
SeriesSysCon 2019 - 13th Annual IEEE International Systems Conference, Proceedings

Keywords

  • Cooperative cyber-physical systems
  • Distributed control
  • Leader-follower
  • Reliable wireless communications

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