Related papers: CP-Guard: Malicious Agent Detection and Defense in…
Communication technologies enable coordination among connected and autonomous vehicles (CAVs). However, it remains unclear how to utilize shared information to improve the safety and efficiency of the CAV system in dynamic and complicated…
Trajectory prediction is, naturally, a key task for vehicle autonomy. While the number of traffic rules is limited, the combinations and uncertainties associated with each agent's behaviour in real-world scenarios are nearly impossible to…
This paper presents CORE, a conceptually simple, effective and communication-efficient model for multi-agent cooperative perception. It addresses the task from a novel perspective of cooperative reconstruction, based on two key insights: 1)…
We address the security of a network of Connected and Automated Vehicles (CAVs) cooperating to navigate through a conflict area. Adversarial attacks such as Sybil attacks can cause safety violations resulting in collisions and traffic jams.…
Adaptive Cruise Control (ACC) is an Advanced Driver Assistance System (ADAS) that enables vehicle following with desired inter-vehicular distances. Cooperative Adaptive Cruise Control (CACC) is upgraded ACC that utilizes additional…
Collaborative perception (CP) is emerging as a promising solution to the inherent limitations of stand-alone intelligence. However, current wireless communication systems are unable to support feature-level and raw-level collaborative…
Connected and Automated Vehicles use sensors and wireless communication to improve road safety and efficiency. However, attackers may target Vehicle-to-Everything communication. Indeed, an attacker may send authenticated but wrong data to…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is one approach to controlling platoons longitudinal dynamics, which requires wireless…
Traffic accident prediction in driving videos aims to provide an early warning of the accident occurrence, and supports the decision making of safe driving systems. Previous works usually concentrate on the spatial-temporal correlation of…
Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
The security of LLM-based multi-agent systems (MAS) is critically threatened by propagation vulnerability, where malicious agents can distort collective decision-making through inter-agent message interactions. While existing supervised…
We present recent advances in formal verification and control for autonomous systems with practical safety guarantees enabled by conformal prediction (CP), a statistical tool for uncertainty quantification. This survey is particularly…
Adverse weather conditions pose a significant challenge to the widespread adoption of Autonomous Vehicles (AVs) by impacting sensors like LiDARs and cameras. Even though Collaborative Perception (CP) improves AV perception in difficult…
Collaborative predictive blacklisting (CPB) allows to forecast future attack sources based on logs and alerts contributed by multiple organizations. Unfortunately, however, research on CPB has only focused on increasing the number of…
3D object detection is an essential perception task in autonomous driving to understand the environments. The Bird's-Eye-View (BEV) representations have significantly improved the performance of 3D detectors with camera inputs on popular…
(Withdrawn) Collaborative security initiatives are increasingly often advocated to improve timeliness and effectiveness of threat mitigation. Among these, collaborative predictive blacklisting (CPB) aims to forecast attack sources based on…
Due to the wide application of average consensus algorithm, its security and privacy problems have attracted great attention. In this paper, we consider the system threatened by a set of unknown agents that are both "malicious" and…
Inter-vehicle communication for autonomous vehicles (AVs) stands to provide significant benefits in terms of perception robustness. We propose a novel approach for AVs to communicate perceptual observations, tempered by trust modelling of…