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Self-Triggered Consensus Approach to Vehicle Platooning at Intersection

In this paper, a new method of vehicle platooning at an intersection is proposed based on self-triggered pinning consensus control. Using the proposed method, collision avoidance without stopping vehicles is achieved. First, the outline of self-triggered pinning consensus control is explained. Next, the problem setting of vehicle platooning is given. The inter-vehicular distance and the speed of each vehicle are modeled as a linear state equation. Finally, virtual merge and split of vehicle groups are proposed.