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This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of…
Urban transportation of next decade is expected to be disrupted by Autonomous Mobility on Demand (AMoD): AMoD providers will collect ride requests from users and will dispatch a fleet of autonomous vehicles to satisfy requests in the most…
Autonomous vehicles are one of the most popular and also fast-growing technologies in the world. As we go further, there are still a lot of challenges that are unsolved and may cause problems in the future when it comes to testing in real…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the…
Virtual testing of automated driving systems (ADS) has become an essential part of testing procedures for all automation levels. As ADS from automation level 3 and up are very complex, virtual testing for such systems is inevitable. The…
As ATM applications deploy for a banking system, the need to secure communications will become critical. However, multicast protocols do not fit the point-to-point model of most network security protocols which were designed with unicast…
Autonomous systems are becoming increasingly prevalent in new vehicles. Due to their environmental friendliness and their remarkable capability to significantly enhance road safety, these vehicles have gained widespread recognition and…
Existing Autonomous Driving Systems (ADS) independently make driving decisions, but they face two significant limitations. First, in complex scenarios, ADS may misinterpret the environment and make inappropriate driving decisions. Second,…
We present here a cost effective framework for a robust scalable and distributed job processing system that adapts to the dynamic computing needs easily with efficient load balancing for heterogeneous systems. The design is such that each…
Shared micromobility systems, such as electric scooters and bikes, have gained widespread popularity as sustainable alternatives to traditional transportation modes. However, these systems face persistent challenges due to spatio-temporal…
In the autonomous vehicle and self-driving paradigm, cooperative perception or exchanging sensor information among vehicles over wireless communication has added a new dimension. Generally, an autonomous vehicle is a special type of robot…
The advent of Autonomous Driving Systems (ADS) has marked a significant shift towards intelligent transportation, with implications for public safety and traffic efficiency. While these systems integrate a variety of technologies and offer…
In this paper, task offloading from vehicles with random velocities is optimized via a novel dynamic programming framework. Particularly, in a vehicular network with multiple vehicles and base stations (BSs), computing tasks of vehicles are…
Autonomous driving has shown great potential to reform modern transportation. Yet its reliability and safety have drawn a lot of attention and concerns. Compared with traditional software systems, autonomous driving systems (ADSs) often use…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
As Autonomous Driving Systems (ADS) progress towards commercial deployment, there is an increasing focus on ensuring their safety and reliability. While considerable research has been conducted on testing methods for detecting faults in…
Matrix is a new message-oriented data synchronization middleware, used as a federated platform for near real-time decentralized applications. It features a novel approach for inter-server communication based on synchronizing message history…
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresses…
The safety of an automated vehicle hinges crucially upon the accuracy of perception and decision-making latency. Under these stringent requirements, future automated cars are usually equipped with multi-modal sensors such as cameras and…