# Over-the-Air Consensus for Distributed Vehicle Platooning Control (Extended version)

arXiv: https://arxiv.org/abs/2211.06225 · HTML: https://mlsanity.com/paper/2211.06225/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Nov 2022.

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

- [Robust Federated Learning Over the Air: Combating Heavy-Tailed Noise with Median Anchored Clipping](https://mlsanity.com/paper/2409.15100/) (2024)

## Abstract (arXiv)

A distributed control of vehicle platooning is referred to as distributed consensus (DC) since many autonomous vehicles (AVs) reach a consensus to move as one body with the same velocity and inter-distance. For DC control to be stable, other AVs' real-time position information should be inputted to each AV's controller via vehicle-to-vehicle (V2V) communications. On the other hand, too many V2V links should be simultaneously established and frequently retrained, causing frequent packet loss and longer communication latency. We propose a novel DC algorithm called over-the-air consensus (AirCons), a joint communication-and-control design with two key features to overcome the above limitations. First, exploiting a wireless signal's superposition and broadcasting properties renders all AVs' signals to converge to a specific value proportional to participating AVs' average position without individual V2V channel information. Second, the estimated average position is used to control each AV's dynamics instead of each AV's individual position. Through analytic and numerical studies, the effectiveness of the proposed AirCons designed on the state-of-the-art New Radio architecture is verified by showing a 14.22% control gain compared to the benchmark without the average position.