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 language | English |
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Title of host publication | Proceedings of 13th Annual IEEE International Systems Conference |
Publisher | IEEE |
Publication date | 1 Apr 2019 |
Article number | 8836922 |
ISBN (Electronic) | 9781538683965 |
DOIs | |
Publication status | Published - 1 Apr 2019 |
Event | 2019 13th Annual IEEE International Systems Conference - Orlando, United States Duration: 8 Apr 2019 → 11 Apr 2019 Conference number: 13 https://ieeexplore.ieee.org/xpl/conhome/8826628/proceeding |
Conference
Conference | 2019 13th Annual IEEE International Systems Conference |
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Number | 13 |
Country/Territory | United States |
City | Orlando |
Period | 08/04/2019 → 11/04/2019 |
Internet address |
Series | SysCon 2019 - 13th Annual IEEE International Systems Conference, Proceedings |
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Keywords
- Cooperative cyber-physical systems
- Distributed control
- Leader-follower
- Reliable wireless communications