# Constraint-Driven Optimal Control of Multi-Agent Systems: A Highway Platooning Case Study

arXiv: https://arxiv.org/abs/2109.05988 · HTML: https://mlsanity.com/paper/2109.05988/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Sep 2021.

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

- [Reinforcement Learning with Distributed MPC for Fuel-Efficient Platoon Control with Discrete Gear Transitions](https://mlsanity.com/paper/2601.18294/) (2026)

## Abstract (arXiv)

Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles operating in an open transportation system. Our approach combines recent insights in constraint-driven optimal control with the physical aerodynamic interactions between vehicles in a highway setting. The result is a set of equations that describes when platooning is an appropriate strategy, as well as a descriptive optimal control law that yields emergent platooning behavior. Finally, we demonstrate these properties in simulation.