Pl-toon: A low-cost experimental platform for teaching and research on decentralized cooperative control

Andrés A. Peters, Francisco J. Vargas, Cristóbal Garrido, Cristóbal Andrade, Felipe Villenas

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

In this paper, we present the development of a low-cost multi-agent system experimental platform for teaching, and research purposes. The platform consists of train-like autonomous agents equipped with local speed estimation, distance sensing to their nearest predecessor, and wireless communications with other agents and a central coordinator. The individual agents can be used for simple PID experiments in a classroom or laboratory setting, while a collection of agents are capable of performing decentralized platooning with cooperative adaptive cruise control in a variety of settings, the latter being the main goal of the platform. The agents are built from low cost components and programmed with open source software, enabling teaching experiences and experimental work with a larger number of agents that would otherwise be possible with other existing solutions. Additionally, we illustrate with experimental results some of the teaching activities that the platform is capable of performing.

Original languageEnglish
Article number2072
Pages (from-to)1-24
Number of pages24
JournalSensors
Volume21
Issue number6
DOIs
StatePublished - 2 Mar 2021

Keywords

  • Control engineering education
  • Multi-agent systems laboratory
  • STEM
  • String stability
  • Vehicle platooning

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