Abstract-This paper focuses on a real system implementation, analysis, and evaluation of a cooperative sensor fusion algorithm based on a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter, using simulated and real vehicles endowed with automotive-grade sensors. We have extended our previously presented cooperative sensor fusion algorithm with a fusion weight optimization method and implemented it on a vehicle that we denote as the ego vehicle. The algorithm fuses information obtained from one or more vehicles located within a certain range (that we call cooperative), which are running a multi-object tracking PHD filter, and which are sharing their object estimates. The algorithm is evaluated on two Citroën C-ZERO prototype vehicles equipped with Mobileye cameras for object tracking and lidar sensors from which the ground truth positions of the tracked objects are extracted. Moreover, the algorithm is evaluated in simulation using simulated C-ZERO vehicles and simulated Mobileye cameras. The ground truth positions of tracked objects are in this case provided by the simulator. Multiple experimental runs are conducted in both simulated and real-world conditions in which a few legacy vehicles were tracked. Results show that the cooperative fusion algorithm allows for extending the sensing field of view, while keeping the tracking accuracy and errors similar to the case in which the vehicles act alone.

Abstract-The convergence of sensor-based vehicle automation and Inter-Vehicle Communication (IVC) will be a key to achieve the full automation of vehicles. In this paper we present a new method for the design and performance evaluation of Cooperative Automated Driving (CAD) systems, based on a bidirectional coupling of vehicle and network simulators (Webots and ns-3). The coupling exploits the comprehensive capabilities of the simulators at a reasonable computational complexity and allows simulating CAD systems with high accuracy. We demonstrate the capabilities of the simulation tool by a case study of convoy driving with automated vehicles using a fully distributed control algorithm and IVC. The study compares CAD-specific metrics (safety distance, headway, speed) for an ideal and a realistic communication channel. The simulation results underline the need of accurate modeling and give valuable insights for the design of CAD systems.

Abstract. This paper presents the concept and an example of robject, a robotic entity embedded in an everyday object. Robjects use the affordance of the original object to ensure an efficient interaction and a high acceptance. The example of the ranger robot shows that this approach can be applied to the domestic environment. We explore the integration of a robot (robject) into a family household, by regarding the home as a ecosystem, which consists of people, parts, products, activities, and interactions. A test of the ranger robot in families validates this holistic approach and shows the impact of this type of design in respect to the complexity of the robotic system.