相关论文: Cooperative Multi-Modal Localization in Connected …
Vehicle-to-Everything (V2X) will create many new opportunities in the area of wireless communications, while its feasibility on enabling vehicular positioning has not been explored yet. Vehicular positioning is a crucial operation for…
Cooperative perception allows a Connected Autonomous Vehicle (CAV) to interact with the other CAVs in the vicinity to enhance perception of surrounding objects to increase safety and reliability. It can compensate for the limitations of the…
To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…
Cooperative map matching (CMM) uses the Global Navigation Satellite System (GNSS) positioning of a group of vehicles to improve the standalone localization accuracy. It has been shown to reduce GNSS error from several meters to sub-meter…
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…
Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…
Connected automated vehicles (CAVs) have brought new opportunities to improve traffic throughput and reduce energy consumption. However, the uncertain lane-change behaviors (LCBs) of surrounding vehicles (SVs) as an uncontrollable factor…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
Urban intersections, dense with pedestrian and vehicular traffic and compounded by GPS signal obstructions from high-rise buildings, are among the most challenging areas in urban traffic systems. Traditional single-vehicle intelligence…
Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot…
The application of cooperative localization in vehicular networks is attractive to improve accuracy and coverage. Conventional distance measurements between vehicles are limited by the need for synchronization and provide no heading…
The paper addresses the vehicle-to-X (V2X) data fusion for cooperative or collective perception (CP). This emerging and promising intelligent transportation systems (ITS) technology has enormous potential for improving efficiency and safety…
The emergence of 6G wireless networks promises to revolutionize vehicular communications by enabling ultra-reliable, low-latency, and high-capacity data exchange. In this context, collaborative perception techniques, where multiple vehicles…
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…
Real-world Vehicle-to-Everything (V2X) cooperative perception systems often operate under heterogeneous sensor configurations due to cost constraints and deployment variability across vehicles and infrastructure. This heterogeneity poses…
To address the intricate challenges of decentralized cooperative scheduling and motion planning in Autonomous Mobility-on-Demand (AMoD) systems, this paper introduces LMMCoDrive, a novel cooperative driving framework that leverages a Large…
Cooperative perception, offering a wider field of view than standalone perception, is becoming increasingly crucial in autonomous driving. This perception is enabled through vehicle-to-vehicle (V2V) communication, allowing connected…
In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes…
The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle to vehicle ranging, and shows improvements in localization…