TY - GEN
T1 - RUPU
T2 - 2023 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon 2023
AU - Chaufleur, Catalina
AU - Escobar, Carlos
AU - Peters, Andres
AU - Carvajal, Gonzalo
AU - Vargas, Francisco
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper presents RUPU, a low-cost scaled-down experimental platform for deployment and experimental testing of strategies to deal with the lateral and longitudinal control problems in path-following vehicle platooning. The platform represents a line-following platooning configuration with agents in a string formation following a line in the path, capturing the essence of the underlying control problems. This avoidsthe need for complex lane detection and path-planning algorithms, reducing the cost ofsensors and processing hardware. The platform provides agents equipped with sensing, actuating, and computing hardware to perform autonomous navigation over a flat surface.They also include wireless communication interfaces for cooperative platooning schemes,user interaction and remote monitoring. To illustrate the potential of RUPU, we perform a set of experiments and demonstrate its capability to perform repeatable and reproducible experiments for validating existing theoretical results and testing of new approaches for platooning control.
AB - This paper presents RUPU, a low-cost scaled-down experimental platform for deployment and experimental testing of strategies to deal with the lateral and longitudinal control problems in path-following vehicle platooning. The platform represents a line-following platooning configuration with agents in a string formation following a line in the path, capturing the essence of the underlying control problems. This avoidsthe need for complex lane detection and path-planning algorithms, reducing the cost ofsensors and processing hardware. The platform provides agents equipped with sensing, actuating, and computing hardware to perform autonomous navigation over a flat surface.They also include wireless communication interfaces for cooperative platooning schemes,user interaction and remote monitoring. To illustrate the potential of RUPU, we perform a set of experiments and demonstrate its capability to perform repeatable and reproducible experiments for validating existing theoretical results and testing of new approaches for platooning control.
KW - experimental platform
KW - multi-agent systems
KW - path-following
KW - vehicle platooning
UR - http://www.scopus.com/inward/record.url?scp=85189526994&partnerID=8YFLogxK
U2 - 10.1109/CHILECON60335.2023.10418641
DO - 10.1109/CHILECON60335.2023.10418641
M3 - Conference contribution
AN - SCOPUS:85189526994
T3 - Proceedings - IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies, ChileCon
BT - ChileCon 2023 - 2023 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 5 December 2023 through 7 December 2023
ER -