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Risk of Cascading Collisions in Network of Vehicles with Delayed Communication (2312.17147v2)

Published 28 Dec 2023 in eess.SY and cs.SY

Abstract: This paper establishes and explores a framework to analyze the risk of cascading failures in a platoon of autonomous vehicles, accounting for communication time-delays and input uncertainty. Our proposed framework yields closed-form expressions for cascading collisions, which we quantify using the coherent Average Value-at-Risk ($\AVAR$) to assess the cascading effect of vehicle collisions within the platoon. We investigate how factors such as network connectivity, system dynamics, communication delays, and uncertainty contribute to the emergence of cascading failures. Our findings are extended to standard communication graphs with symmetries, allowing us to evaluate the risk of cascading collisions from a platoon design perspective. Furthermore, by discovering the boundedness of the inter-vehicle distances, we reveal the best achievable risk of cascading collision with general graph topologies, which is further specified for special communication graph, such as the complete graph. Our theoretical results pave the way for the development of a safety-aware framework aimed at mitigating the risk of cascading collisions in vehicle platoons.

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