A robustness approach to the distributed management of traffic intersections
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ORIGINAL RESEARCH
A robustness approach to the distributed management of traffic intersections Cesar L. González1 · Jorge L. Zapotecatl2 · Carlos Gershenson2 · Juan M. Alberola3 · Vicente Julian3 Received: 30 November 2018 / Accepted: 14 August 2019 © Springer-Verlag GmbH Germany, part of Springer Nature 2019
Abstract Nowadays, the development of autonomous vehicles has emerged as an approach to considerably improve the traffic management in urban zones. Thanks to automation in vehicles as well as in other sectors, the probability of errors, typically due to repetitive tasks, has been drastically reduced. Therefore, technological aids in current driving systems are aimed to avoid or reduce human errors like imprudences or distractions. According to this, it is possible to tackle complex scenarios such as the automation of the vehicles traffic at intersections, as this is one of the points with the highest probability of accidents. In this sense, the coordination of autonomous vehicles at intersections is a trending topic. In the last few years, several approaches have been proposed using centralized solutions. However, centralized systems for traffic coordination have a limited faulttolerance. This paper proposes a distributed coordination management system for intersections of autonomous vehicles through the employment of some well-defined rules to be followed by vehicles. To validate our proposal, we have developed different experiments in order to compare our proposal with other centralized approaches. Furthermore, we have incorporated the management of communication faults during the execution in our proposal. This improvement has also been tested in front of centralized or semi-centralized solutions. The introduction of failures in the communication process demonstrates the sensitivity of the system to possible disturbances, providing a satisfactory coordination of vehicles during the intersection. As final result, our proposal is kept with a suitable flow of autonomous vehicles still with a high communication fails rate. Keywords Traffic intersection management · Vehicle coordination · Self-organized systems · Multiagent systems
1 Introduction * Vicente Julian [email protected] Cesar L. González [email protected] Jorge L. Zapotecatl [email protected] Carlos Gershenson [email protected] Juan M. Alberola [email protected] 1
Universitat Politècnica de València, D. Sistemas Informáticos y Computación, Universidad ECCI, Bogotá, Colombia
2
D. de Ciencias de la Computación, I. de Investigaciones en Matemáticas Aplicadas y en Sistemas, Centro de Ciencias de la Complejidad, Universidad Nacional Autónoma de México, Mexico City, Mexico
3
Universitat Politècnica de València, D. Sistemas Informáticos y Computación, Florida Universitària, Catarroja, Spain
Traffic management has become increasingly complex as the number of vehicles in current cities increase. This requires more complex interactions between different elements, such as: vehicle to vehicle (V2V), vehicles to infrastructure (V2X), and vehic
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