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The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…

Cooperative perception through vehicle-to-everything (V2X) has garnered significant attention in recent years due to its potential to overcome occlusions and enhance long-distance perception. Great achievements have been made in both…

Connectivity is a main driver for the ongoing megatrend of automated mobility: future Cooperative Intelligent Transport Systems (C-ITS) will connect road vehicles, traffic signals, roadside infrastructure, and even vulnerable road users,…

In a mobile ad hoc network (MANET), effective prediction of time-varying interferences can enable adaptive transmission designs and therefore improve the communication performance. This paper investigates interference prediction in MANETs…

Simulation is a crucial step in ensuring accurate, efficient, and realistic Connected and Autonomous Vehicles (CAVs) testing and validation. As the adoption of CAV accelerates, the integration of real-world data into simulation environments…

Vehicle-to-Vehicle (V2V) communication technology has dramatically promoted many promising applications to enhance traffic safety, mobility, and sustainability. However, However, we still lack the understanding of some fundamental…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

In this paper we present a model-predictive control (MPC) based approach for vehicle platooning in an urban traffic setting. Our primary goal is to demonstrate that vehicle platooning has the potential to significantly increase throughput…

V2X cooperation, through the integration of sensor data from both vehicles and infrastructure, is considered a pivotal approach to advancing autonomous driving technology. Current research primarily focuses on enhancing perception accuracy,…

Urban vehicle-to-vehicle (V2V) link scheduling with shared spectrum is a challenging problem. Its main goal is to find the scheduling policy that can maximize system performance (usually the sum capacity of each link or their energy…

With cooperative perception, autonomous vehicles can wirelessly share sensor data and representations to overcome sensor occlusions, improving situational awareness. Securing such data exchanges is crucial for connected autonomous vehicles.…

Vehicular communication (V2X) technologies are widely regarded as a cornerstone for cooperative and automated driving, yet their large-scale real-world deployment remains limited. As a result, understanding V2X performance under realistic,…

802.11p based V2X communication uses stochastic medium access control, which cannot prevent broadcast packet collision, in particular during high channel load. Wireless congestion control has been designed to keep the channel load at an…

Connected and Autonomous Vehicles (CAVs) require continuous access to sensory data to perform complex high-speed maneuvers and advanced trajectory planning. High priority CAVs are particularly reliant on extended perception horizon…

Vehicle-to-everything (V2X) communication in the vehicular ad hoc network (VANET), an infrastructure-free mechanism, has emerged as a crucial component in the advanced Intelligent Transport System (ITS) for special information transmission…

We are on the cusp of a new era of connected autonomous vehicles with unprecedented user experiences, tremendously improved road safety and air quality, highly diverse transportation environments and use cases, as well as a plethora of…

Motion forecasting is an essential task for autonomous driving, and utilizing information from infrastructure and other vehicles can enhance forecasting capabilities. Existing research mainly focuses on leveraging single-frame cooperative…

In this paper, we present the downlink coverage and rate analysis of a cellular vehicle-to-everything (C-V2X) communication network where the locations of vehicular nodes and road side units (RSUs) are modeled as Cox processes driven by a…

Connected and Autonomous Vehicles (CAVs) rely on Vehicular Adhoc Networks with wireless communication between vehicles and roadside infrastructure to support safe operation. However, cybersecurity attacks pose a threat to VANETs and the…

Vehicle-to-everything (V2X) communication plays a crucial role in autonomous driving, enabling cooperation between vehicles and infrastructure. While simulation has significantly contributed to various autonomous driving tasks, its…