# Scalable Decentralized Cooperative Platoon using Multi-Agent Deep Reinforcement Learning

arXiv: https://arxiv.org/abs/2312.06858 · HTML: https://mlsanity.com/paper/2312.06858/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 24 references that are in the map.
- First posted on arXiv 11 Dec 2023.

## Builds on (most cited first, 10 of 10)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Unity: A General Platform for Intelligent Agents](https://mlsanity.com/paper/1809.02627/) (2018)
- [Embodied Intelligence via Learning and Evolution](https://mlsanity.com/paper/2102.02202/) (2021)
- [Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles](https://mlsanity.com/paper/2001.11231/) (2020)
- [Temporal Difference Models: Model-Free Deep RL for Model-Based Control](https://mlsanity.com/paper/1802.09081/) (2018)
- [Super-Human Performance in Gran Turismo Sport Using Deep Reinforcement Learning](https://mlsanity.com/paper/2008.07971/) (2020)
- [End-to-End Race Driving with Deep Reinforcement Learning](https://mlsanity.com/paper/1807.02371/) (2018)
- [Automated Lane Change Strategy using Proximal Policy Optimization-based Deep Reinforcement Learning](https://mlsanity.com/paper/2002.02667/) (2020)
- [High-speed Autonomous Drifting with Deep Reinforcement Learning](https://mlsanity.com/paper/2001.01377/) (2020)
- [Development and Assessment of Autonomous Vehicles in Both Fully Automated and Mixed Traffic Conditions](https://mlsanity.com/paper/2312.04805/) (2023)

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

- [VRU-CIPI: Crossing Intention Prediction at Intersections for Improving Vulnerable Road Users Safety](https://mlsanity.com/paper/2505.09935/) (2025)

## Abstract (arXiv)

Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle communication, these systems expand the vehicles environmental awareness, allowing them to detect hidden obstacles and thereby enhancing safety and reducing crash rates compared to human drivers who rely solely on visual perception. A key application of this technology is vehicle platooning, where connected vehicles drive in a coordinated formation. This paper introduces a vehicle platooning approach designed to enhance traffic flow and safety. Developed using deep reinforcement learning in the Unity 3D game engine, known for its advanced physics, this approach aims for a high-fidelity physical simulation that closely mirrors real-world conditions. The proposed platooning model focuses on scalability, decentralization, and fostering positive cooperation through the introduced predecessor-follower "sharing and caring" communication framework. The study demonstrates how these elements collectively enhance autonomous driving performance and robustness, both for individual vehicles and for the platoon as a whole, in an urban setting. This results in improved road safety and reduced traffic congestion.