Remote control of automated vehicles over unreliable channels

Mohammad A. Nazari, Themistoklis Charalambous, Jonas Sjöberg, Henk Wymeersch

Tutkimustuotos: Artikkeli kirjassa/konferenssijulkaisussaConference contributionScientificvertaisarvioitu

3 Sitaatiot (Scopus)

Abstrakti

We consider the problem of controlling a vehicle moving towards an intersection by means of a remote controller over an unreliable channel. This channel affects both uplink communication (when the vehicle sends its state information to the controller) and downlink information (when the vehicle receives control actions from the controller). We propose a probabilistic framework to compute control actions at the controller in the presence of such unreliable communications. The controller is evaluated under different channel conditions and compared to two nominal controllers, one that assumes perfect communication and one that assumes no communication. We find that for low packet loss rates, the proposed controller leads to less aggressive control actions than the former and generally lower cost than the latter. We additionally consider the mismatch between the perceived knowledge of the channel at the controller, and the actual channel conditions. We evaluate the performance of our controller under this mismatch, which is of interest when the controller is designed.

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 2018 IEEE Wireless Communications and Networking Conference, WCNC 2018
KustantajaIEEE
Sivumäärä6
Vuosikerta2018-April
ISBN (elektroninen)9781538617342
DOI - pysyväislinkit
TilaJulkaistu - 8 kesäkuuta 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisuussa
TapahtumaIEEE Wireless Communications and Networking Conference - Barcelona, Espanja
Kesto: 15 huhtikuuta 201818 huhtikuuta 2018

Julkaisusarja

NimiIEEE Wireless Communications and Networking Conference
KustantajaIEEE
ISSN (painettu)1525-3511
ISSN (elektroninen)1558-2612

Conference

ConferenceIEEE Wireless Communications and Networking Conference
LyhennettäWCNC
MaaEspanja
KaupunkiBarcelona
Ajanjakso15/04/201818/04/2018

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  • Siteeraa tätä

    Nazari, M. A., Charalambous, T., Sjöberg, J., & Wymeersch, H. (2018). Remote control of automated vehicles over unreliable channels. teoksessa Proceedings of the 2018 IEEE Wireless Communications and Networking Conference, WCNC 2018 (Vuosikerta 2018-April). (IEEE Wireless Communications and Networking Conference). IEEE. https://doi.org/10.1109/WCNC.2018.8377202