# LCD: Low Latency Command Dissemination for A Platoon of Vehicles

arXiv: https://arxiv.org/abs/1801.06153 · HTML: https://mlsanity.com/paper/1801.06153/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jan 2018.

## Built on by (most cited first, 1 of 1)

- [Human-In-The-Loop Machine Learning for Safe and Ethical Autonomous Vehicles: Principles, Challenges, and Opportunities](https://mlsanity.com/paper/2408.12548/) (2024)

## Abstract (arXiv)

In a vehicular platoon, a lead vehicle that is responsible for managing the platoon's moving directions and velocity periodically disseminates control commands to following vehicles based on vehicle-to-vehicle communications. However, reducing command dissemination latency with multiple vehicles while ensuring successful message delivery to the tail vehicle is challenging. We propose a new linear dynamic programming algorithm using backward induction and interchange arguments to minimize the dissemination latency of the vehicles. Furthermore, a closed form of dissemination latency in vehicular platoon is obtained by utilizing Markov chain with M/M/1 queuing model. Simulation results confirm that the proposed dynamic programming algorithm improves the dissemination rate by at least 50.9%, compared to similar algorithms in the literature. Moreover, it also approximates the best performance with the maximum gap of up to 0.2 second in terms of latency.