PL-TOON: A Low-Cost Experimental Platform for Teaching and Research on Decentralized Cooperative Control

Area of Science:

• Robotics
• Control Systems Engineering
• Artificial Intelligence

Background:

• Traditional multi-agent systems can be expensive and complex.
• There is a need for accessible experimental platforms for teaching and research in autonomous systems.

Purpose of the Study:

• To develop a low-cost, versatile experimental platform for multi-agent systems.
• To facilitate teaching and research in areas like decentralized platooning and cooperative adaptive cruise control.

Main Methods:

• The platform utilizes train-like autonomous agents with local speed estimation and distance sensing.
• Agents feature wireless communication capabilities for inter-agent and central coordination.
• The system is built using low-cost components and open-source software.

Main Results:

• The platform supports individual agent experiments (e.g., PID control) and collective agent behaviors.
• Experimental results demonstrate the capability for decentralized platooning and cooperative adaptive cruise control.
• The use of affordable components allows for larger-scale agent deployments.

Conclusions:

• The developed platform offers an accessible and cost-effective solution for multi-agent systems research and education.
• It provides a practical environment for exploring advanced control strategies in autonomous vehicle applications.
• The open-source nature and low cost enhance its utility for academic and research institutions.