Related papers: An Energy-Efficient High Definition Map Data Distr…
Content distribution is an application in intelligent transportation system to assist vehicles in acquiring information such as digital maps and entertainment materials. In this paper, we consider content distribution from a single roadside…
High-definition (HD) semantic maps are crucial in enabling autonomous vehicles to navigate urban environments. The traditional method of creating offline HD maps involves labor-intensive manual annotation processes, which are not only…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
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…
High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
We study the problem of online Multi-Agent Pickup and Delivery (MAPD), where a team of agents must repeatedly serve dynamically appearing tasks on a shared map. Existing online methods either rely on simple heuristics, which result in poor…
The last decades have witnessed the breakthrough of autonomous vehicles (AVs), and the perception capabilities of AVs have been dramatically improved. Various sensors installed on AVs, including, but are not limited to, LiDAR, radar, camera…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…
Autonomous vehicles (AVs) are evolving into mobile computing platforms, equipped with powerful processors and diverse sensors that generate massive heterogeneous data, for example 14 TB per day. Supporting emerging third-party applications…
The emergence of Autonomous Mobility-on-Demand (AMoD) services creates new opportunities to improve the efficiency and reliability of on-demand mobility systems. Unlike human-driven Mobility-on-Demand (MoD), AMoD enables fully centralized…
This paper investigates the downlink scheduling for relay-aided high-mobility vehicular networks, where the vehicles with good vehicle-to-infrastructure (V2I) links are employed as cooperative relay nodes to help the ones with poor V2I…
In this paper, a novel proximity and load-aware resource allocation for vehicle-to-vehicle (V2V) communication is proposed. The proposed approach exploits the spatio-temporal traffic patterns, in terms of load and vehicles' physical…
We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…
Roads are among the most essential components of any country's infrastructure. By facilitating the movement and exchange of people, ideas, and goods, they support economic and cultural activity both within and across local and international…
With the explosive growth of vehicle applications, vehicular networks based on millimeter wave (mmWave) bands have attracted interests from both academia and industry. mmWave communications are able to utilize the huge available bandwidth…
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
Routing is a widespread approach to transfer information from a source node to a destination node in many deployed wireless ad-hoc networks. Today's implemented routing algorithms seek to efficiently find the path/route with the largest…
Autonomous driving services rely heavily on sensors such as cameras, LiDAR, radar, and communication modules. A common practice of processing the sensed data is using a high-performance computing unit placed inside the vehicle, which…