Related papers: Multi-Robot Coordination in V2X Environments
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Vehicle platooning is a cooperative driving technology that can be supported by 5G enhanced Vehicle-to-Everything (eV2X) communication to improve road safety, traffic efficiency, and reduce fuel consumption. eV2X communication among the…
Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…
Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
Cooperative Adaptive Cruise Control (CACC) is a fundamental connected vehicle application that extends Adaptive Cruise Control by exploiting vehicle-to-vehicle (V2V) communication. CACC is a crucial ingredient for numerous autonomous…
Environment sensing and fusion via onboard sensors are envisioned to be widely applied in future autonomous driving networks. This paper considers a vehicular system with multiple self-driving vehicles that is assisted by multi-access edge…
Vehicle-to-Everything (V2X) communication has been proposed as a potential solution to improve the robustness and safety of autonomous vehicles by improving coordination and removing the barrier of non-line-of-sight sensing. Cooperative…
Cooperative perception enabled by Vehicle-to-Everything (V2X) communication holds significant promise for enhancing the perception capabilities of autonomous vehicles, allowing them to overcome occlusions and extend their field of view.…
The increased adoption of electric vehicles (EVs) has led to the development of vehicle-to-anything (V2X) technologies, including vehicle-to-home (V2H), vehicle-to-grid (V2G), and energy trading of EVs in the local grid. The EV coordination…
Vehicle-to-infrastructure (V2I) cooperative perception plays a crucial role in autonomous driving scenarios. Despite its potential to improve perception accuracy and robustness, the large amount of raw sensor data inevitably results in high…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
This paper introduces CoMuRoS (Collaborative Multi-Robot System), a generalizable hierarchical architecture for heterogeneous robot teams that unifies centralized deliberation with decentralized execution, and supports event-driven…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
We present in this paper a new algorithm for urban traffic light control with mixed traffic (communicating and non communicating vehicles) and mixed infrastructure (equipped and unequipped junctions). We call equipped junction here a…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
The significance of vehicle-to-everything (V2X) communications has been ever increased as connected and autonomous vehicles get more emergent in practice. The key challenge is the dynamicity: each vehicle needs to recognize the frequent…
Resource allocation has a direct and profound impact on the performance of vehicle-to-everything (V2X) networks. Considering the dynamic nature of vehicular environments, it is appealing to devise a decentralized strategy to perform…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Accurate vehicle localization is a critical challenge in urban environments where GPS signals are often unreliable. This paper presents a cooperative multi-sensor and multi-modal localization approach to address this issue by fusing data…