YatSim: an Open-Source Simulator For Testing Consensus-based Control Strategies in Urban Traffic Networks

TL;DR

YatSim is an open-source simulation tool designed to test consensus-based control strategies in urban traffic networks, enabling better coordination among vehicles to improve safety and efficiency.

Contribution

The paper introduces YatSim, a novel open-source simulator that integrates consensus-based control and predictive collision avoidance for urban traffic management.

Findings

Effective simulation of consensus-based control strategies

Improved intersection crossing coordination

Collision avoidance demonstrated in simulated environments

Abstract

This paper presents YatSim, an open-source program for simulating consensus-based control strategies in urban traffic networks. Urban traffic is a multi-agent system which requires agreement among the agents to guarantees performance, safety, and higher efficiency. YatSim is an user-friendly program that allows to create randomized urban traffic networks in which vehicles run. Vehicles agree on crossing priorities at the intersections by executing a Consensus-Based Auction Algorithm Modified. Ccollisions are avoided by employing an onboard Model Predictive Controller.