Experimental Validation of Distributed Optimal Vehicle Coordination
Paper i proceeding, 2018
In this paper we solve the problem of coordinating autonomous vehicles approaching an intersection in experi- ments. We cast the problem in the distributed optimisation framework and use the algorithm proposed in ,  to solve it in real time. We compare two variants of the algorithm in simulations and test our algorithm in experiments using real cars on a test track. The experimental results demonstrate the applicability and real-time feasibility of the algorithm and show that the underlying assumptions are justified.