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Coordination of connected and automated vehicles (CAVs) in a mixed trafficenvironment poses significant challenges due to the presence of human-drivenvehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work,we addressed the problem of platoon formation of HDVs led by a CAV using amodel-dependent controller. In this paper, we develop a comprehensivemodel-agnostic, multi-objective optimal controller which ensures platoonformation by directly controlling the leading CAV without having explicitknowledge of the trailing HDV dynamics. We provide a detailed exposition of thecontrol framework that uses instantaneous motion information from multiplesuccessive HDVs to enforce safety while achieving the optimization objectives.To demonstrate the efficacy of the proposed control framework, we evaluate itsperformance using numerical simulation and provide associated sensitivity androbustness analysis.

Platoon Formation in a Mixed Traffic Environment: A Model-Agnostic Optimal Control Approach