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(a) No-FRL (b) Intra-FRLWA

Figure 11. Results for a specific 60s test episode using the 5 vehicle 1 platoon environment trained using no-FRL (Figure 11a), and with
Intra-FRLWA (Figure 11b).

4. CONCLUSION
In this paper, we have formulated an AV platooning problem and successfully applied FRL in a variety of meth-
ods to AV platooning. In addition, we proposed new approaches for applying FRL to AV platoons: Inter-FRL
and Intra-FRL. By comparing FRL performance with both gradient and weight averaging in the AV platoon-
ing scenario, it has been shown that weight averaging was the optimal aggregation method regardless of using
Inter-FRL or Intra-FRL. Furthermore, it was found that the Intra-FRLWA strategy was most advantageous for
applying FRL to AV platooning. Finally, it was proven that applying Intra-FRLWA to AV platoons up to 5 vehi-
cles in length provided large performance advantages during and after training when compared to AV platoons