A Cyber-Physical model for platoon system

Cyber-Physical system (CPS) are now widely used in the design of smart objects. A CPS is the integration of computational elements with physical processes. One of the most widespread application of CPS is the autonomous transportation systems. This paper presents a CPS model for the design of a platoon system approach (i.e. a set of autonomous vehicles that move together without any mechanical link while maintaining a predefined configuration). The proposed approach to platoon issue can be considered to be decentralized since each vehicle perceives its environment and acts based only on its own perceptions. The proposed approach deals with different platoon formation. The vehicles of the platoon are able to maintain their position in the configuration while avoiding collision with obstacles. The paper shows some simulation and experimentation results that allow to evaluate the quality of the proposed platoon approach.