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Cooperative Localization is expected to play a crucial role in various applications in the field of Connected and Autonomous vehicles (CAVs). Future 5G wireless systems are expected to enable cost-effective Vehicle-to-Everything…
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…
The demand for accurate localization has risen in recent years to enable the emerging of autonomous vehicles. To have these vehicles in the traffic ecosystem of smart cities, the need for an accurate positioning system is emphasized. To…
Positioning integrity refers to the trust in the performance of a navigation system. Accurate and reliable position information is needed to meet the requirements of connected and Automated Vehicle (CAV) applications, particularly in…
Positioning accuracy is a critical requirement for vehicle-to-everything (V2X) use cases. Therefore, this paper derives the theoretical limits of estimation for the position and orientation of vehicles in a cooperative vehicle-to-vehicle…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
Autonomous vehicles (AVs) require accurate metric and topological location estimates for safe, effective navigation and decision-making. Although many high-definition (HD) roadmaps exist, they are not always accurate since public roads are…
This paper develops a stop line aided cooperative positioning framework for connected vehicles, which creatively utilizes the location of the stop-line to achieve the positioning enhancement for a vehicular ad-hoc network (VANET) in…
Accurate positioning is known to be a fundamental requirement for the deployment of Connected Automated Vehicles (CAVs). To meet this need, a new emerging trend is represented by cooperative methods where vehicles fuse information coming…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…
Modern driver assistance systems as well as autonomous vehicles take their decisions based on local maps of the environment. These maps include, for example, surrounding moving objects perceived by sensors as well as routes and navigation…
In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…
Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…
This paper investigates a cooperative motion planning problem for large-scale connected autonomous vehicles (CAVs) under limited communications, which addresses the challenges of high communication and computing resource requirements. Our…
High-accuracy absolute localization for a team of vehicles is essential when accomplishing various kinds of tasks. As a promising approach, collaborative localization fuses the individual motion measurements and the inter-vehicle…
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enhanced scalability. Despite the advantages, aerial data also…
Traffic simulation is a cost-effective way to test the deployment of Cooperative Adaptive Cruise Control (CACC) vehicles in a large-scale transportation network. By using a previously developed microscopic simulation testbed, this paper…
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through…
Given a sequence of possibly sparse and noisy GPS traces and a map of the road network, map matching algorithms can infer the most accurate trajectory on the road network. However, if the road network is wrong (for example due to missing or…