A Graph Theoretic Approach to the Robustness of k-Nearest Neighbor   Vehicle Platoons
  We consider a graph theoretic approach to the performance and robustness of a platoon of vehicles, where each vehicle communicates with its $k$-nearest neighbors. In particular, we quantify the platoon's stability margin, robustness to disturbances (in terms of system $\mathcal{H}_{\infty}$ norm), and maximum delay tolerance via graph-theoretic notions such as nodal degrees and (grounded) Laplacian matrix eigenvalues. Our results show that there is a trade-off between robustness to time delay and robustness to disturbances. Both first-order dynamics (reference velocity tracking) and second-order dynamics (controlling inter-vehicular distance) are analyzed in this direction. Theoretical contributions are confirmed via simulation results. 
Mohammad Pirani, Ehsan Hashemi, John W. Simpson-Porco, Baris Fidan and   Amir Khajepour
math.OC