{"id":"https://openalex.org/W2514907103","doi":"https://doi.org/10.1109/tits.2017.2671347","title":"Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons","display_name":"Graph Theoretic Approach to the Robustness of $k$ -Nearest Neighbor Vehicle Platoons","publication_year":2017,"publication_date":"2017-03-06","ids":{"openalex":"https://openalex.org/W2514907103","doi":"https://doi.org/10.1109/tits.2017.2671347","mag":"2514907103"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2017.2671347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2671347","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1607.01821","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074875955","display_name":"Mohammad Pirani","orcid":"https://orcid.org/0000-0003-2677-2140"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammad Pirani","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2677-2140","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023201930","display_name":"Ehsan Hashemi","orcid":"https://orcid.org/0000-0002-6236-7516"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ehsan Hashemi","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6236-7516","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057955774","display_name":"John W. Simpson-Porco","orcid":"https://orcid.org/0000-0002-1589-5324"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"John W. Simpson-Porco","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001551882","display_name":"Bar\u0131\u015f Fi\u0307dan","orcid":"https://orcid.org/0000-0002-5333-0201"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Baris Fidan","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020470831","display_name":"Amir Khajepour","orcid":"https://orcid.org/0000-0002-1998-6100"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Khajepour","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00253494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"18","issue":"11","first_page":"3218","last_page":"3224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/platoon","display_name":"Platoon","score":0.8243207931518555},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7856945991516113},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.6005116701126099},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.579108476638794},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48157811164855957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4609222412109375},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4408079981803894},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.41861891746520996},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39973658323287964},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3797413110733032},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2203521430492401},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.18656787276268005},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15345239639282227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11345887184143066}],"concepts":[{"id":"https://openalex.org/C2777735972","wikidata":"https://www.wikidata.org/wiki/Q1061967","display_name":"Platoon","level":3,"score":0.8243207931518555},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7856945991516113},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.6005116701126099},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.579108476638794},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48157811164855957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4609222412109375},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4408079981803894},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.41861891746520996},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39973658323287964},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3797413110733032},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2203521430492401},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.18656787276268005},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15345239639282227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11345887184143066},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tits.2017.2671347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2671347","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1607.01821","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1607.01821","pdf_url":"https://arxiv.org/pdf/1607.01821","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2514907103","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1607.01821","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1607.01821","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1607.01821","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1607.01821","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1607.01821","pdf_url":"https://arxiv.org/pdf/1607.01821","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2514907103.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W942157694","https://openalex.org/W1533970237","https://openalex.org/W1583082115","https://openalex.org/W1605161779","https://openalex.org/W1830003955","https://openalex.org/W1963649370","https://openalex.org/W1976882691","https://openalex.org/W2083152090","https://openalex.org/W2089910489","https://openalex.org/W2101691062","https://openalex.org/W2107396783","https://openalex.org/W2113767057","https://openalex.org/W2113850184","https://openalex.org/W2119728642","https://openalex.org/W2122253031","https://openalex.org/W2129248505","https://openalex.org/W2131181636","https://openalex.org/W2145240653","https://openalex.org/W2158740140","https://openalex.org/W2167295697","https://openalex.org/W2278351347","https://openalex.org/W2288737219","https://openalex.org/W2430976998","https://openalex.org/W3104175967","https://openalex.org/W3195133498","https://openalex.org/W6634764928","https://openalex.org/W6683156334","https://openalex.org/W6694904053"],"related_works":["https://openalex.org/W2970435225","https://openalex.org/W2571145467","https://openalex.org/W2287065438","https://openalex.org/W2571861560","https://openalex.org/W2117429841","https://openalex.org/W2031249617","https://openalex.org/W2783627043","https://openalex.org/W1004488658","https://openalex.org/W1734994312","https://openalex.org/W1894959949","https://openalex.org/W2168693979","https://openalex.org/W2107018255","https://openalex.org/W598259456","https://openalex.org/W1556701776","https://openalex.org/W2128698781","https://openalex.org/W2070820115","https://openalex.org/W2044915559","https://openalex.org/W2779077171","https://openalex.org/W2276189427","https://openalex.org/W2082758884"],"abstract_inverted_index":{"We":[0],"consider":[1],"a":[2,11,63],"graph-theoretic":[3,46],"approach":[4],"to":[5,33,67,72],"the":[6,28],"performance":[7],"and":[8,41,52,70,80],"robustness":[9,32,66,71],"of":[10,13,37],"platoon":[12],"vehicles,":[14],"in":[15,88],"which":[16],"each":[17],"vehicle":[18],"communicates":[19],"with":[20],"its":[21],"k-nearest":[22],"neighbors.":[23],"In":[24],"particular,":[25],"we":[26],"quantify":[27],"platoon's":[29],"stability":[30],"margin,":[31],"disturbances":[34],"(in":[35],"terms":[36],"system":[38],"H\u221e":[39],"norm),":[40],"maximum":[42],"delay":[43,69],"tolerance":[44],"via":[45,95],"notions,":[47],"such":[48],"as":[49],"nodal":[50],"degrees":[51],"(grounded)":[53],"Laplacian":[54],"matrix":[55],"eigenvalues.":[56],"The":[57],"results":[58],"show":[59],"that":[60],"there":[61],"is":[62],"trade-off":[64],"between":[65],"time":[68],"disturbances.":[73],"Both":[74],"lurst-order":[75],"dynamics":[76,82],"(reference":[77],"velocity":[78],"tracking)":[79],"second-order":[81],"(controlling":[83],"inter-vehicular":[84],"distance)":[85],"are":[86,93],"analyzed":[87],"this":[89],"direction.":[90],"Theoretical":[91],"contributions":[92],"conlurmed":[94],"simulation":[96],"results.":[97]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}