  Connected and automated vehicles (CAVs) provide the most intriguing
opportunity to reduce pollution, energy consumption, and travel delays. In this
paper, we address the problem of vehicle platoon formation in a traffic network
with partial CAV penetration rates. We investigate the interaction between CAV
and human-driven vehicle (HDV) dynamics, and provide a rigorous control
framework that enables platoon formation with the HDVs by only controlling the
CAVs within the network. We present a complete analytical solution of the CAV
control policy and the conditions under which a platoon formation is feasible.
We evaluate the solution and demonstrate the efficacy of the proposed framework
using numerical simulation.
