  In a vehicular platoon, a lead vehicle that is responsible for managing the
platoon's moving directions and velocity periodically disseminates control
commands to following vehicles based on vehicle-to-vehicle communications.
However, reducing command dissemination latency with multiple vehicles while
ensuring successful message delivery to the tail vehicle is challenging. We
propose a new linear dynamic programming algorithm using backward induction and
interchange arguments to minimize the dissemination latency of the vehicles.
Furthermore, a closed form of dissemination latency in vehicular platoon is
obtained by utilizing Markov chain with M/M/1 queuing model. Simulation results
confirm that the proposed dynamic programming algorithm improves the
dissemination rate by at least 50.9%, compared to similar algorithms in the
literature. Moreover, it also approximates the best performance with the
maximum gap of up to 0.2 second in terms of latency.
