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Cooney, M., Shiomi, M., Kochenborger Duarte, E. & Vinel, A. (2023). A Broad View on Robot Self-Defense: Rapid Scoping Review and Cultural Comparison. Robotics, 12(2), Article ID 43.
Open this publication in new window or tab >>A Broad View on Robot Self-Defense: Rapid Scoping Review and Cultural Comparison
2023 (English)In: Robotics, E-ISSN 2218-6581, Vol. 12, no 2, article id 43Article in journal (Refereed) Published
Abstract [en]

With power comes responsibility: as robots become more advanced and prevalent, the role they will play in human society becomes increasingly important. Given that violence is an important problem, the question emerges if robots could defend people, even if doing so might cause harm to someone. The current study explores the broad context of how people perceive the acceptability of such robot self-defense (RSD) in terms of (1) theory, via a rapid scoping review, and (2) public opinion in two countries. As a result, we summarize and discuss: increasing usage of robots capable of wielding force by law enforcement and military, negativity toward robots, ethics and legal questions (including differences to the well-known trolley problem), control in the presence of potential failures, and practical capabilities that such robots might require. Furthermore, a survey was conducted, indicating that participants accepted the idea of RSD, with some cultural differences. We believe that, while substantial obstacles will need to be overcome to realize RSD, society stands to gain from exploring its possibilities over the longer term, toward supporting human well-being in difficult times. © 2023 by the authors.

Place, publisher, year, edition, pages
Basel: , 2023
Keywords
dark side of human–robot interaction (HRI), robot crime, robot ethics, robot self-defense, robot violence, technological acceptance
National Category
Human Computer Interaction
Identifiers
urn:nbn:se:hh:diva-51234 (URN)10.3390/robotics12020043 (DOI)000983119800001 ()2-s2.0-85153767580 (Scopus ID)
Available from: 2023-07-07 Created: 2023-07-07 Last updated: 2023-07-07Bibliographically approved
Thunberg, J., Saeed, T., Sidorenko, G., Valle, F. & Vinel, A. (2023). Cooperative Vehicles versus Non-Cooperative Traffic Light: Safe and Efficient Passing. Computers, 12(8), Article ID 154.
Open this publication in new window or tab >>Cooperative Vehicles versus Non-Cooperative Traffic Light: Safe and Efficient Passing
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2023 (English)In: Computers, E-ISSN 2073-431X, Vol. 12, no 8, article id 154Article in journal (Refereed) Published
Abstract [en]

Connected and automated vehicles (CAVs) will be a key component of future cooperative intelligent transportation systems (C-ITS). Since the adoption of C-ITS is not foreseen to happen instantly, not all of its elements are going to be connected at the early deployment stages. We consider a scenario where vehicles approaching a traffic light are connected to each other, but the traffic light itself is not cooperative. Information about indented trajectories such as decisions on how and when to accelerate, decelerate and stop, is communicated among the vehicles involved. We provide an optimization-based procedure for efficient and safe passing of traffic lights (or other temporary road blockage) using vehicle-to-vehicle communication (V2V). We locally optimize objectives that promote efficiency such as less deceleration and larger minimum velocity, while maintaining safety in terms of no collisions. The procedure is computationally efficient as it mainly involves a gradient decent algorithm for one single parameter. © 2023 by the authors.

Place, publisher, year, edition, pages
Basel: , 2023
Keywords
C-ITS, connected vehicles, cooperative driving, CV2X, optimization, road safety, traffic light controller, vehicular networking
National Category
Control Engineering
Identifiers
urn:nbn:se:hh:diva-51619 (URN)10.3390/computers12080154 (DOI)001055707800001 ()2-s2.0-85169007469 (Scopus ID)
Funder
Knowledge FoundationELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Note

This work was supported by the Swedish Knowledge Foundation (KKS) "Safety of Connected Intelligent Vehicles in Smart Cities-SafeSmart" project (2019-2024), the ELLIIT Strategic Research Network and the Helmholtz Program "Engineering Digital Futures".

Available from: 2023-11-13 Created: 2023-11-13 Last updated: 2023-11-13Bibliographically approved
Sidorenko, G., Thunberg, J. & Vinel, A. (2023). Ethical V2X: Cooperative Driving as the only Ethical Path to Multi-Vehicle Safety. In: 2023 IEEE 98th Vehicular Technology Conference (VTC2023-Fall): . Paper presented at 98th IEEE Vehicular Technology Conference, VTC 2023-Fall, Hong Kong, Hong Kong, 10-13 October, 2023. IEEE
Open this publication in new window or tab >>Ethical V2X: Cooperative Driving as the only Ethical Path to Multi-Vehicle Safety
2023 (English)In: 2023 IEEE 98th Vehicular Technology Conference (VTC2023-Fall), IEEE, 2023Conference paper, Published paper (Refereed)
Abstract [en]

We argue that an information exchange between vehicles via the vehicular communications is the foundation for ethical driving. In other words - autonomous vehicles must be cooperative to be able to resolve ethical dilemmas in a multi-vehicle scenario. We show this by exploring the minimal setting of a longitudinal driving in a formation of three vehicles. © 2023 IEEE.

Place, publisher, year, edition, pages
IEEE, 2023
Series
IEEE Vehicular Technology Conference, ISSN 1090-3038, E-ISSN 2577-2465
Keywords
automated driving, Cooperative vehicles, ethical dilemmas, V2X communications, vehicular safety
National Category
Embedded Systems
Identifiers
urn:nbn:se:hh:diva-52407 (URN)10.1109/VTC2023-Fall60731.2023.10333432 (DOI)2-s2.0-85181174004 (Scopus ID)9798350329285 (ISBN)9798350329292 (ISBN)
Conference
98th IEEE Vehicular Technology Conference, VTC 2023-Fall, Hong Kong, Hong Kong, 10-13 October, 2023
Projects
SafeSmart
Funder
Knowledge FoundationELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Note

Fuding: The Knowledge Foundation Project ”SafeSmart”, ELLIIT Strategic Research Net- work and Helmholtz Program “Engineering Digital Futures”

Available from: 2024-01-15 Created: 2024-01-15 Last updated: 2024-01-15Bibliographically approved
Delooz, Q., Vinel, A. & Festag, A. (2023). Optimizing the channel resource usage for sensor data sharing with V2X communications. at – Automatisierungstechnik, 71(4), 311-317
Open this publication in new window or tab >>Optimizing the channel resource usage for sensor data sharing with V2X communications
2023 (English)In: at – Automatisierungstechnik, ISSN 0178-2312, Vol. 71, no 4, p. 311-317Article in journal (Refereed) Published
Abstract [en]

Sensor data sharing in V2X communication enables vehicles to exchange locally perceived sensor data with each other to increase their environmental awareness. It relies on the periodic exchange of selected, safety-relevant objects. Object selection is used to reduce channel resource usage. Additionally, vehicles use congestion control mechanisms to avoid overloading the channel. Currently, both object selection and congestion control mechanisms operate independently. We study a congestion-aware object filtering approach combining both and improving the performance of sensor data sharing. © 2023 Walter de Gruyter GmbH, Berlin/Boston.

Place, publisher, year, edition, pages
München: Walter de Gruyter, 2023
Keywords
collective perception, data congestion, V2X, vehicular communications
National Category
Communication Systems
Identifiers
urn:nbn:se:hh:diva-50447 (URN)10.1515/auto-2022-0162 (DOI)000964957200009 ()2-s2.0-85153334893 (Scopus ID)
Note

Funing: The German Science Foundation (DFG) by project KOALA 2 under number 273374642 within the priority program Cooperatively Interacting Automobiles (CoIn-Car, SPP 1835). Karlsruhe Institute of Technology also acknowledges the support from Helmholtz Program “Engineering Digital Futures”.

Available from: 2023-05-15 Created: 2023-05-15 Last updated: 2023-05-22Bibliographically approved
Kochenborger Duarte, E., Erneberg, M., Pignaton de Freitas, E., Bellalta, B. & Vinel, A. (2023). SafeSmart 6G: The Future of Emergency Vehicle Traffic Light Preemption. In: 2023 2nd International Conference on 6G Networking (6GNet): . Paper presented at 2nd International Conference on 6G Networking (6GNet 2023), Paris, France, 18-20 October, 2023. IEEE
Open this publication in new window or tab >>SafeSmart 6G: The Future of Emergency Vehicle Traffic Light Preemption
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2023 (English)In: 2023 2nd International Conference on 6G Networking (6GNet), IEEE, 2023Conference paper, Published paper (Refereed)
Abstract [en]

This paper delves into the utilization of Vehicular Ad-hoc Networks (VANETs) in emergency vehicle warning systems in the era of 6G. The proposed system, named SafeSmart 6G, will leverage VANET-based vehicle-to-infrastructure Communication powered by 6G to exchange data between traffic lights and emergency vehicles, enhancing safety and reducing response times. SafeSmart 6G will predict the arrival time of emergency vehicles at intersections using historical data and AI-driven analytics, requesting signal preemption for the chosen route. The paper discusses the potential benefits and challenges that might arise from the use of 6G in emergency scenarios. © 2023 IEEE.

Place, publisher, year, edition, pages
IEEE, 2023
Keywords
6G, C-ITS, emergency vehicle, traffic light, V2I
National Category
Telecommunications
Identifiers
urn:nbn:se:hh:diva-52320 (URN)10.1109/6GNet58894.2023.10317728 (DOI)2-s2.0-85179756967 (Scopus ID)979-8-3503-0673-6 (ISBN)979-8-3503-0674-3 (ISBN)
Conference
2nd International Conference on 6G Networking (6GNet 2023), Paris, France, 18-20 October, 2023
Projects
SafeSmart
Funder
Knowledge FoundationELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2023-12-22 Created: 2023-12-22 Last updated: 2023-12-22Bibliographically approved
Delooz, Q., Festag, A., Vinel, A. & Lobo, S. C. (2023). Simulation-based Performance Optimization of V2X Collective Perception by Adaptive Object Filtering. In: 2023 IEEE Intelligent Vehicles Symposium (IV): . Paper presented at The 35th IEEE Intelligent Vehicles Symposium (IV 2023), Anchorage, Alaska, USA, 4-7 June, 2023. Piscataway, NJ: IEEE
Open this publication in new window or tab >>Simulation-based Performance Optimization of V2X Collective Perception by Adaptive Object Filtering
2023 (English)In: 2023 IEEE Intelligent Vehicles Symposium (IV), Piscataway, NJ: IEEE, 2023Conference paper, Published paper (Refereed)
Abstract [en]

V2X Collective Perception is the principle of exchanging sensor data among V2X-capable stations, such as vehicles or roadside units, by exchanging lists of perceived objects in the 5.9 GHz frequency band for road safety and traffic efficiency. An object can be anything relevant to traffic safety, e.g.,vehicles or pedestrians. The current standardization of Collective Perception in Europe considers filtering objects for transmission based on their locally perceived dynamics and freshness to preserve channel resources. However, two remaining problems of object filtering are: information redundancy and adapting object filtering to the available channel resources. In this paper, we combine redundancy mitigation and congestion control-aware filtering. We evaluate the performance of the resulting object filtering techniques by realizing realistic, large-scale simulations of a mid-size city in Germany. We assess the performance using ascoring metric. The results show better information redundancy control and adjustable channel usage for object filtering. © Copyright 2023 IEEE

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2023
Keywords
V2X, sensor data sharing, vehicular communications, Collective Perception, message generation
National Category
Communication Systems
Identifiers
urn:nbn:se:hh:diva-50448 (URN)10.1109/IV55152.2023.10186788 (DOI)001042247300237 ()2-s2.0-85167986317 (Scopus ID)979-8-3503-4691-6 (ISBN)979-8-3503-4692-3 (ISBN)
Conference
The 35th IEEE Intelligent Vehicles Symposium (IV 2023), Anchorage, Alaska, USA, 4-7 June, 2023
Note

As manuscript in thesis.

Funding text: This work was gratefully supported by the German Science Foundation (DFG) in project KOALA2 under number 273374642 within the priority program Cooperatively Interacting Automobiles (CoIn-Car, SPP 1835). Karlsruhe Institute of Technology also acknowledges the support from Helmholtz Program “Engineering Digital Futures”.

Available from: 2023-05-15 Created: 2023-05-15 Last updated: 2023-11-22Bibliographically approved
Amador Molina, O., Aramrattana, M. & Vinel, A. (2022). A Survey on Remote Operation of Road Vehicles. IEEE Access, 10, 130135-130154
Open this publication in new window or tab >>A Survey on Remote Operation of Road Vehicles
2022 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 10, p. 130135-130154Article, review/survey (Refereed) Published
Abstract [en]

In recent years, the use of remote operation has been proposed as a bridge towards driverless mobility by providing human assistance remotely when an automated driving system finds a situation that is ambiguous and requires input from a remote operator. The remote operation of road vehicles has also been proposed as a way to enable drivers to operate vehicles from safer and more comfortable locations. While commercial solutions for remote operation exist, remaining challenges are being tackled by the research community, who is continuously testing and validating the feasibility of deploying remote operation of road vehicles on public roads. These tests range from the technological scope to social aspects such as acceptability and usability that affect human performance. This survey presents a compilation of works that approach the remote operation of road vehicles. We start by describing the basic architecture of remote operation systems and classify their modes of operation depending on the level of human intervention. We use this classification to organize and present recent and relevant work on the field from industry and academia. Finally, we identify the challenges in the deployment of remote operation systems in the technological, regulatory, and commercial scopes.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2022
Keywords
5G, automated mobility, connected vehicle, remote driving, teleoperation
National Category
Telecommunications
Identifiers
urn:nbn:se:hh:diva-48981 (URN)10.1109/access.2022.3229168 (DOI)000902004300001 ()2-s2.0-85144797263 (Scopus ID)
Projects
Safety of Connected Intelligent Vehicles in Smart Cities–SafeSmart
Funder
Vinnova, 2020-02945Vinnova, 2019-03068Knowledge FoundationELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2022-12-21 Created: 2022-12-21 Last updated: 2023-02-01Bibliographically approved
Baiocchi, A., Turcanu, I. & Vinel, A. (2022). Age of Information in CSMA-based Networks with Bursty Update Traffic. IEEE Access, 10, 44088-44105
Open this publication in new window or tab >>Age of Information in CSMA-based Networks with Bursty Update Traffic
2022 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 10, p. 44088-44105Article in journal (Refereed) Published
Abstract [en]

Exchanging status information between closely located mobile agents is an underlying process in numerous future Cyber Physical Systems (CPS). Real-time updates including positions of neighboring nodes is performed when, for example, autonomous vehicles execute a cooperative maneuver, industrial robots collaborate with each other on a task, or Unmanned Aerial Vehicles (UAVs) execute a mission in a swarm. For the design of networked automatic control strategies in these scenarios, it is essential to understand the performance of such Machine-to-Machine (M2M) communications from the information freshness perspective. To this end, we introduce a mathematical framework which allows characterizing the Age of Information (AoI) in networks governed by the Carrier-Sense Multiple Access (CSMA) protocol. Differently from existing work, we take into account the fact that update packets sent by mobile nodes are not necessarily periodic, since packet triggering is often coupled with agents’ mobility. Our approach is based on the assumption that diverse mobility-triggered message generation patterns can be modeled by a wide class of update traffic arrival processes. We apply Discrete Markovian Arrival Process (DMAP), which is a versatile arrival model able to fit arrival patterns that are modulated by a finite state machine, including bursty traffic. We develop an accurate and efficient analytical model of nodes exchanging one-hop broadcast update messages with bursty arrivals to evaluate the moments as well as entire probability distribution of several performance metrics, including AoI. An asymptotic analysis for large networks suggests a simple way to control the update message rate to minimize the AoI. We show that the optimal update rate that minimizes the mean AoI coincides with the optimum of the wireless channel utilization. Numerical examples point out that the asymptotic theory provides accurate predictions also for small values of the number of nodes. © 2013 IEEE.

Place, publisher, year, edition, pages
Piscataway: IEEE, 2022
Keywords
Age of Information, Analytical models, CSMA Networks, Cyber-Physical System, Delays, Full Connectivity, Information age, Job shop scheduling, MAC Access Delay, Machine-to-Machine Communications, Machine-to-machine communications, Measurement, V2X Networks, Wireless networks
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:hh:diva-48092 (URN)10.1109/ACCESS.2022.3168321 (DOI)000790730500001 ()2-s2.0-85129223123 (Scopus ID)
Funder
VinnovaKnowledge FoundationELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2022-09-27 Created: 2022-09-27 Last updated: 2022-11-22Bibliographically approved
Delooz, Q., Willecke, A., Garlichs, K., Hagau, A. C., Wolf, L., Vinel, A. & Festag, A. (2022). Analysis and Evaluation of Information Redundancy Mitigation for V2X Collective Perception. IEEE Access, 10, 47076-47093
Open this publication in new window or tab >>Analysis and Evaluation of Information Redundancy Mitigation for V2X Collective Perception
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2022 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 10, p. 47076-47093Article in journal (Refereed) Published
Abstract [en]

Sensor data sharing enables vehicles to exchange locally perceived sensor data among each other and with the roadside infrastructure to increase their environmental awareness. It is commonly regarded as a next-generation vehicular communication service beyond the exchange of highly aggregated messages in the first generation. The approach is being considered in the European standardization process, where it relies on the exchange of locally detected objects representing anything safety-relevant, such as other vehicles or pedestrians, in periodically broadcasted messages to vehicles in direct communication range. Objects filtering methods for inclusion in a message are necessary to avoid overloading a channel and provoking unnecessary data processing. Initial studies provided in a pre-standardization report about sensor data sharing elaborated a first set of rules to filter objects based on their characteristics, such as their dynamics or type. However, these rules still lack the consideration of information received by other stations to operate. Specifically, to address the problem of information redundancy, several rules have been proposed, but their performance has not been evaluated yet comprehensively. In the present work, the rules are further analyzed, assessed, and compared. Functional and operational requirements are investigated. A performance evaluation is realized by discrete-event simulations in a scenario for a representative city with realistic vehicle densities and mobility patterns. A score and other redundancy-level metrics are elaborated to ease the evaluation and comparison of the filtering rules. Finally, improvements and future works to the filtering methods are proposed. Author

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE, 2022
Keywords
collective perception, information redundancy mitigation, road safety, sensor data sharing, V2X communications
National Category
Other Health Sciences
Identifiers
urn:nbn:se:hh:diva-48471 (URN)10.1109/ACCESS.2022.3170029 (DOI)000793781800001 ()2-s2.0-85129644244 (Scopus ID)
Available from: 2022-10-13 Created: 2022-10-13 Last updated: 2023-08-21Bibliographically approved
Sidorenko, G., Plöger, D., Thunberg, J. & Vinel, A. (2022). Emergency braking with ACC: how much does V2V communication help. IEEE Networking Letters, 4(3), 157-161
Open this publication in new window or tab >>Emergency braking with ACC: how much does V2V communication help
2022 (English)In: IEEE Networking Letters, E-ISSN 2576-3156, Vol. 4, no 3, p. 157-161Article in journal (Refereed) Published
Abstract [en]

This paper provides a safety analysis for emergency braking scenarios involving consecutive vehicles which utilize adaptive cruise control (ACC) with a constant-distance policy together with vehicle-to-vehicle (V2V) communication. We identify analytically, how the minimum safe inter-vehicle distance(IVD) that allows avoiding rear-end collision can be shortened with the use of electronic emergency brake lights and derive the explicit dependency of such IVDs on V2V communication time delay. We further show how these results can be used to compute probabilities of safe braking in the presence of packet losses.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2022
Keywords
Adaptive Cruise Control (ACC), Cooperative Intelligent Transportation System (C-ITS), Vehicle-to-Vehicle (V2V) communication, emergency braking, road safety, ITS-G5, IEEE 802.11p
National Category
Control Engineering Communication Systems
Identifiers
urn:nbn:se:hh:diva-46299 (URN)10.1109/LNET.2022.3190244 (DOI)
Projects
Safety of Connected Intelligent Vehicles in Smart Cities – SafeSmartEmergency Vehicle Traffic Light Preemption in Cities – EPIC
Funder
Knowledge FoundationVinnovaELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Note

Som manuskript i avhandling / As manuscript in thesis

Available from: 2022-02-08 Created: 2022-02-08 Last updated: 2022-10-24Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-4894-4134

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