@inproceedings{0fb8f3e373014104a5ef695fd2eadb73,
title = "Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios",
abstract = "This paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.",
keywords = "control, decision-making, Roundabouts, Urban Platooning",
author = "Asier Arizala and Gorka Alonso and Joshu{\'e} P{\'e}rez and Asier Zubizarreta",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.; 6th Iberian Robotics Conference, Robot 2023 ; Conference date: 22-11-2023 Through 24-11-2023",
year = "2024",
doi = "10.1007/978-3-031-58676-7\_22",
language = "English",
isbn = "9783031586750",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "272--283",
editor = "Lino Marques and Cristina Santos and Lima, \{Jos{\'e} Lu{\'i}s\} and Danilo Tardioli and Manuel Ferre",
booktitle = "Robot 2023",
address = "Germany",
}