@inproceedings{f3f25966853a434a99754451f134af89,
title = "A numerical study of a Kalman filtering based strategy for platooning with lossy communication",
abstract = "In this article, we consider homogeneous platoons where vehicles communicate through lossy links. We assume a predecessor following topology in where each vehicle sends its position to the immediate follower agent, and the transmission is subject to random data loss modeled as a Bernoulli process. A Kalman filtering based strategy is proposed to estimate the missing data. Such approach is compared with one where the missing data is replaced by a linear extrapolation based on previous data. The performance of each strategy is studied through numerical simulations for different data loss probabilities. The simulation results show that the Kalman filter-based strategy achieves a considerably better performance compared to the linear extrapolation case considering both, the tracking and the estimation errors.",
keywords = "Kalman filter, Vehicle platoon, lossy communication, networked systems, string stability",
author = "Felipe Villenas and Francisco Vargas and Andres Peters",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control, ICA-ACCA 2022 ; Conference date: 24-10-2022 Through 28-10-2022",
year = "2022",
doi = "10.1109/ICA-ACCA56767.2022.10006323",
language = "English",
series = "2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control: For the Development of Sustainable Agricultural Systems, ICA-ACCA 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2022 IEEE International Conference on Automation/25th Congress of the Chilean Association of Automatic Control",
}