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Cooperative Adaptive Cruise Control (CACC) is one of the driving applications of vehicular ad-hoc networks (VANETs) and promises to bring more efficient and faster transportation through cooperative behavior between vehicles. In CACC,…
The multi-agent perception system collects visual data from sensors located on various agents and leverages their relative poses determined by GPS signals to effectively fuse information, mitigating the limitations of single-agent sensing,…
Multi-agent cooperative perception (CP) promises to overcome the inherent occlusion and range limitations of single-agent systems in autonomous driving, yet its practicality is severely constrained by limited Vehicle-to-Everything (V2X)…
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…
Safe autonomous driving requires robust detection of other traffic participants. However, robust does not mean perfect, and safe systems typically minimize missed detections at the expense of a higher false positive rate. This results in…
Road information such as road profile and traffic density have been widely used in intelligent vehicle systems to improve road safety, ride comfort, and fuel economy. However, vehicle heterogeneity and parameter uncertainty make it…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
While emerging adaptive cruise control (ACC) technologies are making their way into more vehicles, they also expose a vulnerability to potential malicious cyberattacks. Previous research has typically focused on constant or stochastic…
Collaborative perception allows each agent to enhance its perceptual abilities by exchanging messages with others. It inherently results in a trade-off between perception ability and communication costs. Previous works transmit complete…
In this paper, we investigate improving the perception performance of autonomous vehicles through communication with other vehicles and road infrastructures. To this end, we introduce a novel collaborative perception architecture, called…
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…
Cooperative sensing and heterogeneous information fusion are critical to realize vehicular cyber-physical systems (VCPSs). This paper makes the first attempt to quantitatively measure the quality of VCPS by designing a new metric called Age…
Autonomous cars have to navigate in dynamic environment which can be full of uncertainties. The uncertainties can come either from sensor limitations such as occlusions and limited sensor range, or from probabilistic prediction of other…
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.…
Connected vehicles, whether equipped with advanced driver-assistance systems or fully autonomous, require human driver supervision and are currently constrained to visual information in their line-of-sight. A cooperative perception system…
Sharing collective perception messages (CPM) between vehicles is investigated to decrease occlusions so as to improve the perception accuracy and safety of autonomous driving. However, highly accurate data sharing and low communication…
Cooperative perception between vehicles is poised to offer robust and reliable scene understanding. Recently, we are witnessing experimental systems research building testbeds that share raw spatial sensor data for cooperative perception.…
Collaborative perception among multiple connected and autonomous vehicles can greatly enhance perceptive capabilities by allowing vehicles to exchange supplementary information via communications. Despite advances in previous approaches,…
Vehicle-to-everything (V2X) communication techniques enable the collaboration between vehicles and many other entities in the neighboring environment, which could fundamentally improve the perception system for autonomous driving. However,…
Our transportation world is rapidly transforming induced by an ever increasing level of autonomy. However, to obtain license of fully automated vehicles for widespread public use, it is necessary to assure safety of the entire system, which…