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Cooperative perception enabled by Vehicle-to-Everything (V2X) communication enhances autonomous driving safety by creating a unified environmental representation through shared sensory data. While recent works have advanced multi-agent…
Semantic communication transmits the extracted features of information rather than raw data, significantly reducing redundancy, which is crucial for addressing spectrum and energy challenges in 6G networks. In this paper, we introduce…
The prevalence of high-speed vehicle-to-everything (V2X) communication will likely significantly influence the future of vehicle autonomy. In several autonomous driving applications, however, the role such systems will play is seldom…
Cooperative perception can significantly improve the perception performance of autonomous vehicles beyond the limited perception ability of individual vehicles by exchanging information with neighbor agents through V2X communication.…
Vehicle-Infrastructure Collaborative Perception (VICP) is pivotal for resolving occlusion in autonomous driving, yet the trade-off between communication bandwidth and feature redundancy remains a critical bottleneck. While intermediate…
Low-cost distributed robots suffer from limited onboard computing power, resulting in excessive computation time when navigating in cluttered environments. This paper presents Edge Accelerated Robot Navigation (EARN), to achieve real-time…
Distributed resource allocation algorithms differ from centralized methods by relying on locally collected information for resource selection, leading to a low vehicle-to-everything (V2X) communication quality of service (QoS) in…
This paper presents a novel energy-efficient motion planning algorithm for Connected Autonomous Vehicles (CAVs) on urban roads. The approach consists of two components: a decision-making algorithm and an optimization-based trajectory…
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…
This paper proposes a joint communication and indoor positioning (JCP) system based on visible light communication (VLC) designed for high-precision indoor environments. The framework supports 2D and 3D positioning using received signal…
Optical camera communication (OCC) represents a promising visible light communication technology. Nonetheless, typical OCC systems utilizing frame-based cameras are encumbered by limitations, including low bit rate and high processing load.…
As a power and bandwidth efficient modulation scheme, the optical spatial modulation (SM) technique has recently drawn increased attention in the field of visible light communications (VLC). To guarantee the number of bits mapped by the…
Distributed resource allocation (RA) schemes have been introduced in cellular vehicle-to-everything (C-V2X) standard for vehicle-to-vehicle (V2V) sidelink (SL) communications to share the limited spectrum (sub-6GHz) efficiently. However,…
Semantic Scene Completion (SSC) constitutes a pivotal element in autonomous driving perception systems, tasked with inferring the 3D semantic occupancy of a scene from sensory data. To improve accuracy, prior research has implemented…
Prevalent solutions for Connected and Autonomous vehicle (CAV) mapping include high definition map (HD map) or real-time Simultaneous Localization and Mapping (SLAM). Both methods only rely on vehicle itself (onboard sensors or embedded…
Recently vehicle-to-vehicle (V2V) communication emerged as a key enabling technology to ensure traffic safety and other mission-critical applications. In this paper, a novel proximity and quality-of-service (QoS)-aware resource allocation…
Ultra-reliable vehicle-to-everything (V2X) communication is essential for enabling the next generation of intelligent vehicles. V2X communication refers to the exchange of information between vehicle and infrastructure (V2I) or between…
We present a simultaneous localization and mapping (SLAM) algorithm that is based on radio signals and the association of specular multipath components (MPCs) with geometric features. Especially in indoor scenarios, robust localization from…
In comparison to conventional traffic designs, shared spaces promote a more pleasant urban environment with slower motorized movement, smoother traffic, and less congestion. In the foreseeable future, shared spaces will be populated with a…
This study presents a hierarchical, network-level traffic flow control framework for mixed traffic consisting of Human-driven Vehicles (HVs), Connected and Automated Vehicles (CAVs). The framework jointly optimizes vehicle-level eco-driving…