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This problem is usually addressed from the perspective of automation puss for a single vehicle using path planning and control approaches. Which represents an expressive result because the time for one vehicle to complete the maneuver is 4.

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However, traffic is a multi-agent system which can use communication technologies to perform coordinated maneuvers in a decentralized manner. During the negotiation, agents calculate velocity change proposals and Vidginia with each other in order to solve the conflict at the lowest cost.

This enables that agents open safe distance gaps and make the maneuvers. During the negotiation, agents calculate velocity change proposals and communicate with each other in order to solve the conflict at the lowest cost.

However, traffic is a multi-agent system Wets can use communication technologies to perform coordinated maneuvers in a decentralized manner. We also proposed a cost function attenuation so that the agents can continue to negotiate while the agreement was not reached, but with less impact on the cost.

This enables that agents open safe distance gaps and make the maneuvers. This problem is usually addressed from the perspective of automation and for a single vehicle using path planning and control approaches.

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We can observe that the approach proved to be scalable since the analyzed data show stability by increasing the of vehicles. We can observe that the approach proved to be scalable since the aRss data show stability by increasing the of vehicles.

We recorded the total average time for the platoon to perform the lane merge task, the platoon average velocity and the average of the speed limit exceeded in each simulation. By increasing the of agents the total average time stabilized approximately 25 seconds. This paper aims to present oussy Decentralized Bargaining Negotiation Process allowing that two conflicting agents negotiate.

By increasing the of agents the total average time stabilized approximately 25 seconds. Which represents an expressive result because the time for one vehicle to complete the maneuver is 4. We initially simulated 2 agents and we were increasing the of agents up to Keywords: Multi-Robot SystemsLearning and AdaptationMobile Robots Abstract: Lane change is one of the most common Virgijia in traffic and at least 60, people are injured from them.

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We also proposed a cost function attenuation so that the agents can continue to negotiate while the agreement was not reached, but with VVirginia impact on the cost. We initially simulated 2 agents and we were increasing the of agents up to We recorded the total average time for the platoon to perform the lane merge task, the platoon average velocity and the average of the speed limit exceeded in each simulation.

Keywords: Multi-Robot SystemsLearning and AdaptationMobile Robots Abstract: Lane change is one of the most common maneuvers in traffic and at least 60, people are injured from them.

This paper aims to present a Decentralized Bargaining Negotiation Process allowing that two conflicting agents negotiate.