{"id":"https://openalex.org/W4409474588","doi":"https://doi.org/10.1109/tvt.2025.3561126","title":"Virtual Leader-Follower Based Platooning Under Mixed Traffic: A Data-Driven Distributionally Robust MPC Method","display_name":"Virtual Leader-Follower Based Platooning Under Mixed Traffic: A Data-Driven Distributionally Robust MPC Method","publication_year":2025,"publication_date":"2025-04-15","ids":{"openalex":"https://openalex.org/W4409474588","doi":"https://doi.org/10.1109/tvt.2025.3561126"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3561126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3561126","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023985766","display_name":"Fengkun Gao","orcid":"https://orcid.org/0000-0002-4548-6863"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Fengkun Gao","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Bo Yang","orcid":"https://orcid.org/0000-0001-9268-8436"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Bo Yang","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987935","display_name":"Chao Ning","orcid":"https://orcid.org/0000-0002-3064-9551"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Chao Ning","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100935923","display_name":"Xinping Guan","orcid":"https://orcid.org/0000-0003-1858-8538"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Xinping Guan","raw_affiliation_strings":["State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Submarine Geoscience, School of Automation and Intelligent Sensing, Shanghai, China","institution_ids":["https://openalex.org/I4210153682"]},{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023985766"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4210153682"],"apc_list":null,"apc_paid":null,"fwci":4.0136,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92694409,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"74","issue":"9","first_page":"13471","last_page":"13479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9398999810218811,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.9398999810218811,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.935699999332428,"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/T12162","display_name":"Cellular Automata and Applications","score":0.9272000193595886,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4877625107765198},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.4711524248123169},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42626258730888367},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3780580759048462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3401210308074951},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3321625292301178},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.130982905626297}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4877625107765198},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.4711524248123169},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42626258730888367},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3780580759048462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3401210308074951},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3321625292301178},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.130982905626297},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3561126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3561126","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2944702724","display_name":null,"funder_award_id":"62325306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4429234303","display_name":null,"funder_award_id":"62273237","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1558136956","https://openalex.org/W1985690171","https://openalex.org/W2011832962","https://openalex.org/W2081927768","https://openalex.org/W2114246772","https://openalex.org/W2166277028","https://openalex.org/W2301927045","https://openalex.org/W2461335435","https://openalex.org/W2557055507","https://openalex.org/W2617994934","https://openalex.org/W2735837047","https://openalex.org/W2765395770","https://openalex.org/W2889986919","https://openalex.org/W2951547513","https://openalex.org/W2963787065","https://openalex.org/W3042395962","https://openalex.org/W3118596400","https://openalex.org/W3124928762","https://openalex.org/W3138362761","https://openalex.org/W3189182581","https://openalex.org/W3200244406","https://openalex.org/W3215528317","https://openalex.org/W4210404353","https://openalex.org/W4211093963","https://openalex.org/W4313326410","https://openalex.org/W4319997956","https://openalex.org/W4362716175","https://openalex.org/W4386025570","https://openalex.org/W4388936637","https://openalex.org/W4392567226","https://openalex.org/W4392827568","https://openalex.org/W4396601756","https://openalex.org/W4401330608"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W1982160337","https://openalex.org/W2560201613","https://openalex.org/W1971380437","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1983548084","https://openalex.org/W2488129135","https://openalex.org/W2358190750"],"abstract_inverted_index":{"The":[0,64,85],"trajectory":[1,70,121],"prediction":[2,31,62,94],"information":[3],"of":[4,13,29,92,99,120,175],"human-driven":[5],"vehicles":[6,17],"(HDVs)":[7],"is":[8,113,155,161,179],"imperative":[9],"for":[10,102,151],"the":[11,26,49,68,73,90,97,103,117,129,139,152,172,176],"platooning":[12,56],"connected":[14],"and":[15,35,43,81,96,126,194],"automated":[16],"(CAVs)":[18],"in":[19,39,89],"mixed":[20],"traffic":[21],"flow.":[22],"However,":[23],"due":[24],"to":[25,58,76,115,136,138,163],"inherent":[27],"uncertainty":[28],"HDVs,":[30],"errors":[32],"are":[33],"inevitable":[34],"time-varying,":[36],"which":[37],"results":[38,182],"inefficient":[40],"control":[41,79,100,148,192],"actions":[42],"even":[44],"safety":[45],"issues.":[46],"To":[47],"address":[48],"problem,":[50],"we":[51],"propose":[52],"a":[53,107,143],"virtual":[54,74,104,153],"leader-follower":[55],"strategy":[57,101],"deal":[59],"with":[60,123],"time-varying":[61,93,140],"uncertainties.":[63],"controlled":[65],"platoon":[66],"tracks":[67],"efficient":[69,173],"planned":[71],"by":[72,128],"leader":[75,154],"avoid":[77,190],"unnecessary":[78],"inputs":[80,193],"improve":[82,195],"speed":[83],"smoothness.":[84,197],"challenges":[86],"mainly":[87],"lie":[88],"modeling":[91],"uncertainties":[95,119],"design":[98],"leader.":[105],"First,":[106],"second-order":[108],"moment":[109],"based":[110],"ambiguity":[111],"set":[112],"employed":[114],"describe":[116],"distributional":[118],"prediction,":[122],"parameters":[124],"identified":[125],"updated":[127],"Gaussian":[130],"Mixture":[131],"Model-Hidden":[132],"Markov":[133],"Model":[134],"(GMM-HMM)":[135],"adapt":[137],"environments.":[141],"Further,":[142],"distributionally":[144],"robust":[145],"model":[146],"predictive":[147],"(DR-MPC)":[149],"method":[150,187],"designed,":[156],"where":[157],"conditional":[158],"value-at-risk":[159],"constraint":[160,169],"adopted":[162],"achieve":[164],"flexible":[165],"tracking.":[166],"By":[167],"exploiting":[168],"tightening":[170],"technology,":[171],"solution":[174],"DR-MPC":[177],"problem":[178],"obtained.":[180],"Simulation":[181],"demonstrate":[183],"that":[184],"our":[185],"proposed":[186],"can":[188],"significantly":[189],"undesired":[191],"driving":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}