Trust-based controller for convoy string stability

Abstract

This paper describes a trust-based vehicle controller that can be tuned to ensure decentralized string stability in a convoy. The controller leverages the RoboTrust algorithm to mitigate risks associated with trust-based vulnerabilities, such as cyber attacks, poor decisions, and malfunctions. In our scenario, we simulate a simple convoy mission in which twelve vehicles move together between waypoints, stopping at each waypoint before proceeding. We examine the decisions of the convoy leader at each waypoint and show how its behaviors can introduce spacing errors throughout the convoy column. We then show how the trust-based controller can modify the leader's behaviors and minimize the effect of error propagation and amplification in the convoy.