  This paper considers the problem of hub-based platoon coordination for a
large-scale transport system, where trucks have individual utility functions to
optimize. An event-triggered distributed model predictive control method is
proposed to solve the optimal scheduling of waiting times at hubs for
individual trucks. In this distributed framework, trucks are allowed to decide
their waiting times independently and only limited information is shared
between trucks. Both the predicted reward gained from platooning and the
predicted cost for waiting at hubs are included in each truck's utility
function. The performance of the coordination method is demonstrated in a
simulation with one hundred trucks over the Swedish road network.
