YatSim: an Open-Source Simulator For Testing Consensus-based Control Strategies in Urban Traffic Networks
For researchers in urban traffic control, YatSim provides a user-friendly tool to simulate and test consensus-based multi-agent coordination strategies.
YatSim is an open-source simulator for testing consensus-based control strategies in urban traffic networks, enabling vehicles to agree on crossing priorities via a modified consensus-based auction algorithm while avoiding collisions with an onboard MPC.
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.