# Distributed Model Predictive Control for Heterogeneous Platoons with Affine Spacing Policies and Arbitrary Communication Topologies

arXiv: https://arxiv.org/abs/2404.12441 · HTML: https://mlsanity.com/paper/2404.12441/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Apr 2024.

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

- [Consensus-Aware AV Behavior: Trade-offs Between Safety, Interaction, and Performance in Mixed Urban Traffic](https://mlsanity.com/paper/2505.04379/) (2025)

## Abstract (arXiv)

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed DMPC algorithm can accommodate any spacing policy that is affine in a vehicle's velocity, which includes constant distance or constant time headway spacing policies. By analyzing the total cost for the entire platoon, a sufficient condition is derived to ensure platoon asymptotic stability. Simulation experiments with a platoon of 50 vehicles and hardware experiments with a platoon of four 1/10th-scale vehicles validate the algorithm and compare performance under different spacing policies and communication topologies.