Vehicle Swarm Motion Coordination through Independent Local-Reactive Agents

Abstract

Vehicle swarm refers to a group of autonomous vehicles. Vehicle swarm motion coordination is a difficult problem in Intelligent Transport System. Due to similar characteristics of reactive agents and autonomous vehicles relying on self-organization principles, this paper presents reactive agent driven motion coordination for vehicle swarm that adopts large-scale independent local-reactive agents to perform a self-organized motion coordination control mechanism, which is composed of a network of swarm collaborative agents, a set of dynamic hybrid local networks of individual swarm collaborative agent and vehicle autonomic agents, and a homogenous self-organized motion coordination control protocol for individual vehicle autonomic agent’s self-adapting motion.