Work Package 1 (WP1): Develop a realistic distributed model for vehicle platoons
Task 1.1. Select the most recent models for vehicle platoons and develop a new distributed model which emphasizes the couplings between the vehicles
Task 1.2. Model the network-induced time-varying delays by using polytopic approximations or as disturbances in order to translate the effect of the delays into polyhedral state-space partitions
Task 1.3. Model the hardware constraints by translating them into polyhedral state-space partitions
Task 1.4. Integrate optimally all these models into a realistic distributed model for vehicle platoons
Task 1.5. Analyze the full-model for control purposes
Deliverable 1: a report with the description of the delay and constraints model.
Deliverable 2: a report with the description of the full-model.
Milestone 1: delay model and constraints model.
Milestone 2: full model for control purposes.

Work Package 2 (WP2): Develop agent-based predictive control strategies
Task 2.1. Develop agent-based predictive control strategies based on PLFs relying on the realistic distributed model developed in Work Package 1 and considering the drive disturbances
Task 2.2. Develop Matlab emulators for cooperating vehicle platoons
Task 2.3. Verify the string stability of the multi-agent based cooperating vehicle platoon
Task 2.4. Analyze the agent-based predictive control strategy
Deliverable 3: a report with the description of the agent-based predictive control strategy.
Deliverable 4: Matlab emulator for vehicle platoons.
Deliverable 5: string stability analysis of the cooperating vehicle platoon.
Milestone 3: availability of the Matlab emulators for cooperating vehicle platoons.

Work Package 3 (WP3): Real-time implementation and performance analysis
Task 3.1. Development of real-time software for implementing the designed agent-based distributed predictive control algorithms on embedded systems
Task 3.2. Test the distributed predictive control strategy developed on a lab-scale vehicle platoon
Task 3.3. Performance analysis of the real-time agent-based predictive control algorithm and comparison with state-of-art platoon controllers
Deliverable 6: a report with the description of the real-time software.
Deliverable 7: a report with the description of the real-time lab-scale environment and the experimental results with performance analysis and comparisons.
Milestone 4: availability of the agent-based predictive controller for cooperative vehicle platoons.