%T Decentralized Control for Coordinated flow of Multi-Agent Systems
%A Valentino Crespi
%A George Cybenko
%A Massimo Santini
%A Daniela Rus
%R Technical Report TR2002-414
%I Dartmouth College, Computer Science
%C Hanover, NH
%D January 2002
%U http://www.cs.dartmouth.edu/reports/TR2002-414.ps.Z
%X
 This paper describes a distributed algorithm for coordinating the flow
 of a mass of vehicles approaching a highway exit or a tollbooth. We
 provide the problem formulation, a general methodology for distributed
 control and an instantiation of this methodology to the coordinated
 flow problem. We analyze our algorithm and provide experimental data.