50,427 research outputs found
Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling
In this paper, we design a supervisor to prevent vehicle collisions at
intersections. An intersection is modeled as an area containing multiple
conflict points where vehicle paths cross in the future. At every time step,
the supervisor determines whether there will be more than one vehicle in the
vicinity of a conflict point at the same time. If there is, then an impending
collision is detected, and the supervisor overrides the drivers to avoid
collision. A major challenge in the design of a supervisor as opposed to an
autonomous vehicle controller is to verify whether future collisions will occur
based on the current drivers choices. This verification problem is particularly
hard due to the large number of vehicles often involved in intersection
collision, to the multitude of conflict points, and to the vehicles dynamics.
In order to solve the verification problem, we translate the problem to a
job-shop scheduling problem that yields equivalent answers. The job-shop
scheduling problem can, in turn, be transformed into a mixed-integer linear
program when the vehicle dynamics are first-order dynamics, and can thus be
solved by using a commercial solver.Comment: Submitted to Hybrid Systems: Computation and Control (HSCC) 201
V2X Content Distribution Based on Batched Network Coding with Distributed Scheduling
Content distribution is an application in intelligent transportation system
to assist vehicles in acquiring information such as digital maps and
entertainment materials. In this paper, we consider content distribution from a
single roadside infrastructure unit to a group of vehicles passing by it. To
combat the short connection time and the lossy channel quality, the downloaded
contents need to be further shared among vehicles after the initial
broadcasting phase. To this end, we propose a joint infrastructure-to-vehicle
(I2V) and vehicle-to-vehicle (V2V) communication scheme based on batched sparse
(BATS) coding to minimize the traffic overhead and reduce the total
transmission delay. In the I2V phase, the roadside unit (RSU) encodes the
original large-size file into a number of batches in a rateless manner, each
containing a fixed number of coded packets, and sequentially broadcasts them
during the I2V connection time. In the V2V phase, vehicles perform the network
coded cooperative sharing by re-encoding the received packets. We propose a
utility-based distributed algorithm to efficiently schedule the V2V cooperative
transmissions, hence reducing the transmission delay. A closed-form expression
for the expected rank distribution of the proposed content distribution scheme
is derived, which is used to design the optimal BATS code. The performance of
the proposed content distribution scheme is evaluated by extensive simulations
that consider multi-lane road and realistic vehicular traffic settings, and
shown to significantly outperform the existing content distribution protocols.Comment: 12 pages and 9 figure
Federated Robust Embedded Systems: Concepts and Challenges
The development within the area of embedded systems (ESs) is moving rapidly, not least due to falling costs of computation and communication equipment. It is believed that increased communication opportunities will lead to the future ESs no longer being parts of isolated products, but rather parts of larger communities or federations of ESs, within which information is exchanged for the benefit of all participants. This vision is asserted by a number of interrelated research topics, such as the internet of things, cyber-physical systems, systems of systems, and multi-agent systems. In this work, the focus is primarily on ESs, with their specific real-time and safety requirements.
While the vision of interconnected ESs is quite promising, it also brings great challenges to the development of future systems in an efficient, safe, and reliable way. In this work, a pre-study has been carried out in order to gain a better understanding about common concepts and challenges that naturally arise in federations of ESs. The work was organized around a series of workshops, with contributions from both academic participants and industrial partners with a strong experience in ES development.
During the workshops, a portfolio of possible ES federation scenarios was collected, and a number of application examples were discussed more thoroughly on different abstraction levels, starting from screening the nature of interactions on the federation level and proceeding down to the implementation details within each ES. These discussions led to a better understanding of what can be expected in the future federated ESs. In this report, the discussed applications are summarized, together with their characteristics, challenges, and necessary solution elements, providing a ground for the future research within the area of communicating ESs
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