Coordination of ad-hoc groups formed in urban environments

This paper describes a distributed framework for multi-vehicle formation ad-hoc group creation. These vehicles will determine the best possible path to desired destinations in an urban road network and use the framework to form groups of convoys with the same immediate goals. These groups will be used to provide a more efficient traffic flow through traffic lights and in the presence of non-networked vehicles. This framework allows for different low level control laws to be used depending on the situation identified by the discrete higher level control.