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Computing Systems for Autonomous Driving: State-of-the-Art and Challenges
The recent proliferation of computing technologies, e.g., sensors, compu...
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Safe and Efficient Intersection Control of Connected and Autonomous Intersection Traffic
In this dissertation, we address a problem of safe and efficient interse...
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PAIM: Platoon-based Autonomous Intersection Management
With the emergence of autonomous ground vehicles and the recent advancem...
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Imperfect Knowledge in Autonomous Urban Traffic Manoeuvres
Urban Multi-lane Spatial Logic (UMLSL) was introduced in [13] for provin...
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Coordination and Communication of Autonomous Subsystems in Cyber Physical Systems: A Mechanism Learning Approach
In the control of many autonomous subsystems, such as autonomous vehicle...
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Bandwidth-Adaptive Feature Sharing for Cooperative LIDAR Object Detection
Situational awareness as a necessity in the connected and autonomous veh...
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Autonomous and Semi-Autonomous Intersection Management: A Survey
Intersection is a major source of traffic delays and accidents within mo...
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Cooperative Intersection Crossing over 5G
Autonomous driving is a safety critical application of sensing and decision-making technologies. Communication technologies extend the awareness capabilities of vehicles, beyond what is achievable with the on-board systems only. Nonetheless, issues typically related to wireless networking must be taken into account when designing safe and reliable autonomous systems. The aim of this work is to present a control algorithm and a communication paradigm over 5G networks for negotiating traffic junctions in urban areas. The proposed control framework has been shown to converge in a finite time and the supporting communication software has been designed with the objective of minimising communication delays. At the same time, the underlying network guarantees reliability of the communication. The proposed framework has been successfully deployed and tested, in partnership with Ericsson AB, at the AstaZero proving ground in Goteborg, Sweden. In our experiments, three autonomous vehicles successfully drove through an intersection of 235 square meters in a urban scenario.
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