A Resource Allocation Algorithm for Formation Control of Connected Vehicles

A formation control problem is considered for a network of connected vehicles communicating over a 5G C-V2X communication system with limited network resources. To solve this problem, we propose a new combined control - resource allocation scheme to make the vehicles achieve the targeted formation. We concentrate on the formulation of the formation control problem under the constraints imposed by the communication system. We state the resource allocation problem and present an optimization algorithm to select the transmitting agents. The proposed algorithm allows to assign the network resources in a centralized way to ensure the convergence towards the desired formation while preserving the network connectivity.