# Decentralized Platoon Join-in-Middle Protocol Considering Communication Delay for Connected and Automated Vehicle

> Research article (Sensors, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W3210983891](https://www.wikidata.org/wiki/openalex:W3210983891)  
**Source**: https://4ort.xyz/entity/decentralized-platoon-join-in-middle-protocol-considering-communication-delay-for-connected-and-automated-vehicle