CeCar: A platform for research, development and education on autonomous and cooperative driving

International audienceIn this paper, we introduce CeCar as an affordable model-car based platform supporting research, development and education in the field of autonomous and cooperative driving. We present the application-oriented use cases and key platform requirements , and explain the logical and technical architecture of the CeCar platform, alongside with details on the underlying mod-ularity concept. Subsequently, we introduce CeCar application scenarios for the areas research, development and education, and provide relevant application examples. Further, we discuss the CeCar platform concept in comparison with other model-car based education and research platforms, and outline planned future work on the CeCar platform

Planar Stage Graphs: Characterizations And Applications

We consider combinatorial and algorithmic aspects of the well-known paradigm "killing two birds with one stone". We define a stage graph as follows: vertices are the points from a planar point set, and fu; vg is an edge if and only if the (infinite, straight) line segment joining u to v intersects a given line segment, called a stage. We show that a graph is a stage graph if and only if it is a permutation graph. The characterization results in a compact linear space representation of stage graphs. This has been exploited for designing improved algorithms for matching in permutation graphs, two processor task scheduling for dependency graphs known to be permutation graphs, and dominance related problems for planar point sets. 1980 Mathematics Subject Classification: 68R10, 68U05 CR Categories: F.2.2 Key Words and Phrases: Algorithms and Data Structures, Dominance, Matching, Processor Scheduling, Permutational Graphs, Coding of Orders, 2-dimensional Partial Orders, Stage Graphs. Car..

An Improved Maximum Matching Algorithm in a Permutation Graph

Introduction We present an O(n log 2 n) time algorithm for computing a maximum matching in a permutation graph on n-vertices. Our results are based on the algorithm of [12] for a two processor scheduling problem of [2]. The algorithm of [12] runs in O(n +m) time, where n and m are the vertices and dependencies, respectively of the given graph. Through vector dominance and using computational geometry techniques we provide a novel and improved algorithm for maximum matching in permutation graphs. We establish that the problem has an O(n log 2 n) solution. Furthermore, if the dependency graph of a scheduling problem is known to be a permutation graph, then we now have an improved two-processor scheduling algorithm (if the number of edges is \Omega\Gamma n<F34.3

Planar stage graphs: Characterizations and applications

We consider combinatorial and algorithmic aspects of the well-known paradigm "killing two birds with one stone". We define a stage graph as follows: vertices are points from a planar point set, and {u, v} is an edge if and only if the (infinite, straight) line segment joining u to v intersects a given line segment, called a stage. We show that a graph is a stage graph if and only if it is a permutation graph. The characterization results in a compact linear space representation of stage graphs. This has been exploited for designing improved algorithms for maximum matching in permutation graphs, two processor task scheduling for dependency graphs known to be permutation graphs, and dominance-related problems for planar point sets. We show that a maximum matching in permutation graphs can be computed in Ω(n log2 n) time, where n is the number of vertices. We provide simple optimal sequential and parallel algorithms for several dominance related problems for planar point sets