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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…

Vehicles are among the fastest growing type of connected devices. Therefore, there is a need for Vehicle-to-Everything (V2X) communication i.e. passing of information from a Vehicle-to-Vehicle (V2V) or Vehicle-to-Infrastructure (V2I) and…

Wireless communication between road users is essential for environmental perception, reasoning, and mission planning to enable fully autonomous vehicles, and thus improve road safety and transport efficiency. To enable collaborative…

This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…

Platoon-based driving is an idea that vehicles follow each other at a close distance, in order to increase road throughput and fuel savings. This requires reliable wireless communications to adjust the speeds of vehicles. Although there is…

This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…

This paper introduces a novel cooperative vehicular communication algorithm tailored for future 6G ultra-massive vehicle-to-everything (V2X) networks leveraging integrated space-air-ground communication systems. Specifically, we address the…

Connected and automated vehicles will enable advanced traffic safety and efficiency applications thanks to the dynamic exchange of information between vehicles, and between vehicles and infrastructure nodes. Connected vehicles can utilize…

This paper considers a networked tracking architecture in 6G integrated sensing and communication (ISAC) systems, where multiple base stations (BSs) cooperatively transmit radio signals and process received echo signals to track multiple…

The research examined predicting short-duration traffic flow counts with the Kalman filtering technique (KFT), a computational filtering method. Short-term traffic prediction is an important tool for operation in traffic management and…

Due to the dynamic nature of vehicular traffic and the road surroundings, vehicle-to-vehicle (V2V) propagation characteristics vary greatly on both small- and large-scale. Recent measurements have shown that both large static objects (e.g.,…

Accurate estimation of noise parameters is critical for optimal filter performance, especially in systems where true noise parameter values are unknown or time-varying. This article presents a quaternion left-invariant extended Kalman…

Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF),…

This paper investigates the integrated sensing and communication (ISAC) in vehicle-to-infrastructure (V2I) networks. To realize ISAC, an effective beamforming design is essential which however, highly depends on the availability of accurate…

Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving…

Cooperating radios can extend their communication range by adjusting their signals to ensure coherent combining at a destination radio. This technique is called distributed transmit beamforming. Beamforming (BF) relies on the BF radios…

This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…

Channel knowledge map (CKM) is emerging as a critical enabler for environment-aware 6G networks, offering a site-specific database to significantly reduce pilot overhead. However, existing CKM construction methods typically rely on sparse…

Controlled interacting particle systems such as the ensemble Kalman filter (EnKF) and the feedback particle filter (FPF) are numerical algorithms to approximate the solution of the nonlinear filtering problem in continuous time. The…

In the rapidly advancing landscape of connected and automated vehicles (CAV), the integration of Vehicle-to-Everything (V2X) communication in traditional fusion systems presents a promising avenue for enhancing vehicle perception.…