Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios

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dc.contributor.authorArizala, Asier
dc.contributor.authorAlonso, Gorka
dc.contributor.authorPérez, Joshué
dc.contributor.authorZubizarreta, Asier
dc.contributor.editorMarques, Lino
dc.contributor.editorSantos, Cristina
dc.contributor.editorLima, José Luís
dc.contributor.editorTardioli, Danilo
dc.contributor.editorFerre, Manuel
dc.contributor.institutionCCAM
dc.date.accessioned2024-08-20T12:50:07Z
dc.date.available2024-08-20T12:50:07Z
dc.date.issued2024
dc.descriptionPublisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
dc.description.abstractThis paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.en
dc.description.statusPeer reviewed
dc.format.extent12
dc.identifier.citationArizala , A , Alonso , G , Pérez , J & Zubizarreta , A 2024 , Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios . in L Marques , C Santos , J L Lima , D Tardioli & M Ferre (eds) , Robot 2023 : 6th Iberian Robotics Conference Advances in Robotics, Volume 1 . Lecture Notes in Networks and Systems , vol. 976 LNNS , Springer Science and Business Media Deutschland GmbH , pp. 272-283 , 6th Iberian Robotics Conference, Robot 2023 , Coimbra , Portugal , 22/11/23 . https://doi.org/10.1007/978-3-031-58676-7_22
dc.identifier.citationconference
dc.identifier.doi10.1007/978-3-031-58676-7_22
dc.identifier.isbn9783031586750
dc.identifier.issn2367-3370
dc.identifier.urihttps://hdl.handle.net/11556/4763
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85192867178&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherSpringer Science and Business Media Deutschland GmbH
dc.relation.ispartofRobot 2023
dc.relation.ispartofseriesLecture Notes in Networks and Systems
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordscontrol
dc.subject.keywordsdecision-making
dc.subject.keywordsRoundabouts
dc.subject.keywordsUrban Platooning
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsSignal Processing
dc.subject.keywordsComputer Networks and Communications
dc.titleFuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenariosen
dc.typeconference output
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