相关论文: Online V2X Scheduling for Raw-Level Cooperative Pe…

Decentralized vehicle-to-everything (V2X) networks (i.e., C-V2X Mode-4 and NR-V2X Mode-2) utilize sensing-based semi-persistent scheduling (SPS) where vehicles sense and reserve suitable radio resources for Basic Safety Message (BSM)…

The ever-increasing heavy traffic congestion potentially impedes the accessibility of emergency vehicles (EVs), resulting in detrimental impacts on critical services and even safety of people's lives. Hence, it is significant to propose an…

Collaborative perception improves 3D understanding by fusing multi-agent observations, yet intermediate-feature sharing faces strict bandwidth constraints as dense BEV features saturate V2X links. We observe that collaborators view the same…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

A key challenge for autonomous driving lies in maintaining real-time situational awareness regarding surrounding obstacles under strict latency constraints. The high processing requirements coupled with limited onboard computational…

Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…

We formulate offloading of computational tasks from a dynamic group of mobile agents (e.g., cars) as decentralized decision making among autonomous agents. We design an interaction mechanism that incentivizes such agents to align private…

Sharing perceptual data with other vehicles enhances the traffic safety of autonomous vehicles because it helps vehicles locate other vehicles and pedestrians in their blind spots. Such safety applications require high throughput and short…

Collaborative perception (CP) is a critical technology in applications like autonomous driving and smart cities. It involves the sharing and fusion of information among sensors to overcome the limitations of individual perception, such as…

This paper addresses the joint optimization of trajectories and bandwidth allocation for multiple Unmanned Aerial Vehicles (UAVs) to enhance energy efficiency in the cooperative data collection problem. We focus on an important yet…

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.…

Infrastructure sensors installed at elevated positions offer a broader perception range and encounter fewer occlusions. Integrating both infrastructure and ego-vehicle data through V2X communication, known as vehicle-infrastructure…

In this paper, we explore the benefit of cooperation in adversarial bandit settings. As a motivating example, we consider the problem of wireless network selection. Mobile devices are often required to choose the right network to associate…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…

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.…

Recently, we have been witnesses of accidents involving autonomous vehicles and their lack of sufficient information. One way to tackle this issue is to benefit from the perception of different view points, namely cooperative perception. We…

Recent advancements in Vehicle-to-Everything (V2X) technologies have enabled autonomous vehicles to share sensing information to see through occlusions, greatly boosting the perception capability. However, there are no real-world datasets…

In this paper, we investigate the application of Vehicle-to-Everything (V2X) communication to improve the perception performance of autonomous vehicles. We present a robust cooperative perception framework with V2X communication using a…