# Delay-Aware Multi-Layer Multi-Rate Model Predictive Control for Vehicle Platooning Under Message-Rate Congestion Control

> Research article (IEEE Access, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4225748413](https://www.wikidata.org/wiki/openalex:W4225748413)  
**Source**: https://4ort.xyz/entity/delay-aware-multi-layer-multi-rate-model-predictive-control-for-vehicle-platooning-under-message-rate-congestion-control