# Distributed Platoon Control for Safe and Smooth Crossing at an Unsignalized Intersection (Part I): Stability Analysis

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/b2vyov02ayzzganiwf6jk1ur4
- Original: https://arxiv.org/abs/2610.28290

## Summary

A study proposes a distributed platoon controller that analyzes the asymptotic behavior of multi-vehicle traffic at an unsignalized intersection through closed-loop path modeling. It shows that under mild conditions on the controller gains, safe crossing is guaranteed during the transient phase, and in steady state all vehicles cross smoothly at a common constant speed while avoiding collisions. Unlike traditional bi-level decoupled designs on open paths, the method couples intersection control with platoon convergence analysis. Its effectiveness was validated in a high-fidelity CARLA simulator using multiple commercial vehicle models.