A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via detailed computer simulations and provide a preliminary evaluation of the system performances. The results are compared to the ones that can be achieved via a risk estimator with and without combining the proposed protocol. Our fault model considers packet-loss, noisy sensory information and malicious driving. Our preliminary results show a reduction in the number of dangerous situations and vehicle collisions.
@article{arxiv.1906.04703,
title = {Membership-based Manoeuvre Negotiation in Autonomous and Safety-critical Vehicular Systems},
author = {Antonio Casimiro and Emelie Ekenstedt and Elad Michael Schiller},
journal= {arXiv preprint arXiv:1906.04703},
year = {2019}
}