Related papers: CMP: Cooperative Motion Prediction with Multi-Agen…
In this paper, we consider unmanned aerial vehicles (UAVs) equipped with a visible light communication (VLC) access point and coordinated multipoint (CoMP) capability that allows users to connect to more than one UAV. UAVs can move in…
Collaborative perception enhances sensing in multirobot and vehicular networks by fusing information from multiple agents, improving perception accuracy and sensing range. However, mobility and non-rigid sensor mounts introduce extrinsic…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Autonomous driving holds transformative potential but remains fundamentally constrained by the limited perception and isolated decision-making with standalone intelligence. While recent multi-agent approaches introduce cooperation, they…
Autonomous driving systems must operate smoothly in human-populated indoor environments, where challenges arise including limited perception and occlusions when relying only on onboard sensors, as well as the need for socially compliant…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
Driven by the recent advancement in unmanned aerial vehicle (UAV) technology, this paper proposes a new wireless network architecture of \emph{coordinate multipoint (CoMP) in the sky} to harness both the benefits of interference mitigation…
Real-world Vehicle-to-Everything (V2X) cooperative perception systems often operate under heterogeneous sensor configurations due to cost constraints and deployment variability across vehicles and infrastructure. This heterogeneity poses…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
Multi-agent collaborative perception (MCP) has recently attracted much attention. It includes three key processes: communication for sharing, collaboration for integration, and reconstruction for different downstream tasks. Existing methods…
Reliable perception remains a key challenge for Connected Automated Vehicles (CAVs) in complex real-world environments, where varying lighting conditions and adverse weather degrade sensing performance. While existing multi-sensor solutions…
We perform an extensive study of cooperative awareness in vehicular communication based on periodic message exchange. We start by analyzing measurements collected on four test sites across Europe. To measure cooperative awareness, we use…
Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
Cooperative perception aims to address the inherent limitations of single-vehicle autonomous driving systems through information exchange among multiple agents. Previous research has primarily focused on single-frame perception tasks.…
Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…
Cooperative perception offers several benefits for enhancing the capabilities of autonomous vehicles and improving road safety. Using roadside sensors in addition to onboard sensors increases reliability and extends the sensor range.…
Cooperative driving using connectivity services has been a promising avenue for autonomous vehicles, with the low latency and further reliability support provided by 5th Generation Mobile Network (5G). In this paper, we present an…
Deep learning has been widely used in the perception (e.g., 3D object detection) of intelligent vehicle driving. Due to the beneficial Vehicle-to-Vehicle (V2V) communication, the deep learning based features from other agents can be shared…