Contents I. Introduction
Over the past decades, the advances in information communication technology have attracted considerable attention in C-ITS domain due to the benefit they could lead in terms of road safety increasing and the decreasing of the environmental pollution [1]. Specifically, the deployment of connected autonomous vehicles platoons moving in formation with a common velocity while keeping a prefixed inter-vehicular distance may significantly improve different aspects of the vehicular traffic flow such as the traffic congestion [2]. In this driving scenario, all vehicles are connected through Vehicle-to-Vehicle (V2V) wireless communication paradigm and exchange information by exploiting the de facto IEEE 802.11p communication protocol [3]. Leveraging these information, the aim of the cooperative control strategies is to guarantee that each vehicle within the platoon tracks the reference behaviour as imposed by the leader, i.e. the first vehicle of the fleet, while achieving the desired formation w.r.t. the communicating vehicles [4].
