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This work presents a novel framework for the formation control of multipleautonomous ground vehicles in an on-road environment. Unique challenges of thisproblem lie in 1) the design of collision avoidance strategies with obstaclesand with other vehicles in a highly structured environment, 2) dynamicreconfiguration of the formation to handle different task specifications. Inthis paper, we design a local MPC-based tracking controller for each individualvehicle to follow a reference trajectory while satisfying various constraints(kinematics and dynamics, collision avoidance, \textit{etc.}). The referencetrajectory of a vehicle is computed from its leader's trajectory, based on apre-defined formation tree. We use logic rules to organize the collisionavoidance behaviors of member vehicles. Moreover, we propose a methodology tosafely reconfigure the formation on-the-fly. The proposed framework has beenvalidated using high-fidelity simulations.

A Distributed Model Predictive Control Framework for Road-Following Formation Control of Car-like Vehicles (Extended Version)