Related papers: Split, Send, Reassemble: A Formal Specification of…
Cooperative Adaptive Cruise Control (CACC) is a well-studied technology for forming string-stable vehicle platoons. Ensuring collision avoidance is particularly difficult in CACC due to the small desired inter-vehicle spacing. We propose a…
We present an efficient algorithm for regularized optimal transport. In contrast to previous methods, we use the Douglas-Rachford splitting technique to develop an efficient solver that can handle a broad class of regularizers. The…
Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this…
We study real-time routing policies in smart transit systems, where the platform has a combination of cars and high-capacity vehicles (e.g., buses or shuttles) and seeks to serve a set of incoming trip requests. The platform can use its…
CANs are a broadcast protocol for real-time communication of critical vehicle subsystems. Original equipment manufacturers of passenger vehicles hold secret their mappings of CAN data to vehicle signals, and these definitions vary according…
In the recent years, WiFi standard has been used to develop different kind of wireless networks due to its flexibility and the availability of cheap off the shelf hardware. Even if the standard itself lacks mobility support, it has been…
Multicast enables efficient one-to-many communications. Several applications benefit from its scalability properties, e.g., live-streaming and large-scale software updates. Historically, multicast applications have used specialized…
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the…
Designing reconfiguration schemes for consensus protocols is challenging because subtle corner cases during reconfiguration could invalidate the correctness of the protocol. Thus, most systems that embed consensus protocols conservatively…
Numerous protocols for geocast have been proposed in literature. It has been shown that explicit route setup approaches perform poorly with VANETs due to limited route lifetime and frequent network fragmentation. The broadcast based…
There is no shortage of state machine replication protocols. From Generalized Paxos to EPaxos, a huge number of replication protocols have been proposed that achieve high throughput and low latency. However, these protocols all have two…
The Physical Internet (PI) puts high emphasis on enabling logistics to reliably perform at the speed mandated by and promised to customers, and to do so efficiently and sustainably. To do so, goods to be moved are encapsulated in modular…
State machine replication protocols, like MultiPaxos and Raft, are a critical component of many distributed systems and databases. However, these protocols offer relatively low throughput due to several bottlenecked components. Numerous…
Traffic assignment is a core component of many urban transport planning tools. It is used to determine how traffic is distributed over a transportation network. We study the task of computing traffic assignments for public transport: Given…
We present a synthesis method for communication protocols for active safety applications that satisfy certain formal specifications on quality of service requirements. The protocols are developed to provide reliable communication services…
We present three formal models of the OSPF routing protocol. The first two are formalised in the timed process algebra T-AWN, which is not only tailored to routing protocols, but also specifies protocols in pseudo-code that is easily…
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle. These situations become even more challenging when considering large vehicles, such as buses. We present a path planning…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
This document is a technical overview and discussion of our work, a protocol for secure group messaging. By secure we mean for the actual users i.e. end-to-end security, as opposed to "secure" for irrelevant third parties. Our work provides…
The connected and autonomous systems (CAS) and auto-driving era is coming into our life. To support CAS applications such as AI-driven decision-making and blockchain-based smart data management platform, data and message…