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Distributed and Adaptive Communication Protocols for Autonomous Vehicles

This outline explores reliable communication links, exploitation of redundancy, control hierarchy interaction, and developing adaptive message sets for autonomous vehicles. It delves into factors affecting communication trade-offs and the evolution of control language and logic. The focus is on adapting to variable conditions and automating language evolution for efficient communication.

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Distributed and Adaptive Communication Protocols for Autonomous Vehicles

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  1. Distributed and Adaptive Communication Protocols for Autonomous Vehicles Greg Pottie Charles Taylor

  2. Outline • Reliable communication links • Exploitation of redundancy • Interaction with control hierarchy • Development of robust, adaptive message sets

  3. Reliable Communication Links • Robust, jam-resistant communications (ONR project): • Spread spectrum • Channel coding and retransmission • Adaptive power control and bit rate • Adaptive antenna arrays • Fast adaptation through interpolation

  4. Trades • Delay—shorter delay implies less robust coding and adaptation • Data rate—higher data rate demands more resources • Security—higher security implies reduced communications flexibility • Error rate—lower error rate demands increased complexity

  5. Exploitation of Numbers • Variable link quality often acceptable if have routing choices • Groups of autonomous vehicles may tolerate variable quality of service

  6. Interaction with Control Hierarchy • Control hierarchy implies variable message priority, quality of service • Delay • Error rate targets • Data rate • Maximum time between control updates • Demands new model for communications traffic and thus possibly new MAC

  7. Control Traffic Models Within formation: Low latency, high rate, predictable locations, response to local conditions Between formations: High latency, low rate, location uncertainty, global objectives

  8. Evolving Control Language • Different layers of control hierarchy will demand different message sets; want these to be robust and to describe the phenomena of interest • Limited set of events of interest at each level may permit automated evolution of languages

  9. Language Construction • Bind utterances (description/meaning pairs) to events of interest; this builds the basic vocabulary • Determine the logic underlying the relationships between the events; this underpins the grammar of the language • Language builds in understanding and thus is a form of compression

  10. Logic of Language • The events of interest and the certainty with which they are observed imply different logics for inference • Logic takes into account unreliability of individual links, and considers actions of group as a whole

  11. Preliminary research • Abstract model for constrained set of events—needed also for traditional communications protocol construction • Extract vocabulary and logic • Build grammar • Aim is to gradually consider more complicated situations, to determine whether languages can be automatically evolved to deal with unexpected events.

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