Vehicle platoon approaches found in literature deal generally with column formations adapted to urban or highway transportation systems. This paper presents an approach in which each platoon vehicle follows a virtual vehicle, in order to cope with issues such as different platoon geometries. Those different types of formations can be encountered in a wide range of field such as the military or agriculture. A platoon formation is composed of a vehicle which assumes the platoon leader role (generally human driven) and other vehicles which play the follower role. A follower vehicle assigns a local leader role to one of the vehicles it perceives. The approach presented here bases on a predefined translation of position, by a follower vehicle, calculated from the perceived position of its local leader vehicle. This translation depends on the desired platoon geometry, expressed in terms of a predefined longitudinal and lateral distance of a follower vehicle relatively to its local leader position. Each vehicle is implemented as an agent which makes decisions depending only on its own perception. © 2012 Published by Elsevier Ltd.
El-Zaher, M., Dafflon, B., Gechter, F., & Contet, J. M. (2012). Vehicle platoon control with multi-configuration ability. In Procedia Computer Science (Vol. 9, pp. 1503–1512). Elsevier B.V. https://doi.org/10.1016/j.procs.2012.04.165