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The goal of the work in this paper is to use occupancy grid in integrating safety distances with the planning strategy for autonomous vehicle navigation. The challenge is to avoid static and dynamic obstacles at high speed with respect to some specific road rules while following a global reference trajectory. Our local trajectory planning algorithm is based on the method of clothoid tentacles. It...
In this paper, a new cooperative control aiming at reducing the time delay is proposed in an isolated intersection without the traffic light. First of all, the control center receives the time range of arriving at the intersection from the vehicle by the communication of vehicle-to-infrastructure. Then a passing sequence is optimized by the Genetic Algorithm based on this range and sent to each vehicle...
Cloud computing usage is growing, and soon the vast majority of organisations will rely on some form of cloud computing services. Cloud computing is being adopted in critical sectors such as energy, transport and finance. This makes cloud computing services critical in themselves. When cyber-attacks and cyber disruptions happen, millions of users are affected. Infrastructure vendors will inevitably...
Many problems with present conventional delivery scenarios in urban areas are caused by use of conventional vehicles. These problems are amongst others limited efficiency, ecological damages, disturbance of moving traffic and pedestrians and difficulties to comply with environmental and traffic regulations, affecting local communities, business people and their customers as well as the logistic companies...
We lay ground for a comprehensive investigation of “traffic-related” threats to vehicular networks. While current research in the vehicular networks security area has done a good job in recognizing standard security and cryptographic threats, detailed modeling and analysis of threats that are specific to vehicle traffic are rarely considered in the literature. In this paper we study the problem of...
Coordination of autonomous non-point agents in four-way crossings is studied in this work. A control scheme based on artificial potential functions is proposed in order to coordinate holonomic agents whose aim is to pass through an intersection while avoiding collisions. To do so, the agents are provided with a decentralized navigation function in which the goal and collision functions are decoupled...
In this paper, a dynamic obstacle avoidance strategy for mobile robots is proposed. The strategy consists of two key elements: an on-line reference generator and a control scheme to make the robot track the reference signals so as to reach a pre-specified goal point. To generate the online reference signals, a harmonic potential field for dynamic environments is exploited. The potential field is modified...
In any vehicular adhoc network, there is always a possibility of incorrect messages being transmitted either due to faulty sensors and/or intentional malicious activities. Detecting and evicting sources of such misbehavior is an important problem. We observe that the performance of misbehavior detection schemes will depend on the application under consideration and the mobility dynamics of the detecting...
In the near future vehicular communication will be used to increase traffic safety, efficiency and convenience. This work focuses on the privacy of vehicle owners. The privacy situation in vehicular communication is modeled using graphs. Adversary classes are described and the vehicular communication scenario is analyzed with respect to linkability of positional messages. Further, new and known privacy...
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