Building a Self-Organizing Urban Bus Route

We built a control system to realize the idea of self-coordinating buses recently proposed by Bartholdi and Eisenstein. It has been extensively tested and by the end of 2012 will manage the most heavily-traveled bus route through the campus of the Georgia Institute of Technology in Atlanta, GA, USA. Here we review the idea, describe the architecture of a control system that implements it, and provide a snapshot of progress towards full implementation.