To extend the proposed framework to handle heterogeneous vehicle platoons with varying dynamics and capabilities, several adjustments and considerations need to be made. Firstly, the dynamics of each vehicle in the platoon must be accurately modeled, taking into account the differences in acceleration, braking capabilities, and size. This would involve formulating a more complex set of state-space equations that capture the diverse behaviors of the vehicles.
Additionally, the sensor configurations and data fusion techniques would need to be adapted to accommodate the different sensors available on each vehicle. The optimization problem for finding the optimal controller realization would then need to consider the varying sensor inputs and their impact on the overall system performance. This could involve a more sophisticated optimization algorithm that can handle the increased complexity of the problem.
Moreover, the reachability analysis for heterogeneous platoons would require a more comprehensive understanding of the interactions between different vehicle types and their responses to attacks. This may involve developing new metrics and criteria to evaluate the impact of attacks on the overall platoon behavior, considering the diverse dynamics and capabilities of the vehicles involved.