Publication
2025
Dou Hu, Jin Nakazato, Kazuki Maruta, Omid Abbassi Aghda, Rui Dinis, Manabu Tsukada, "A Low PAPR Layered Multi-User OTFS Modulation", AI-Driven Connectivity for Vehicular and Wireless Networks in VTC2025-Spring, Oslo, Norway, 2025.Workshop | Abstract | BibTeX
@workshop{Hu2025,
title = {A Low PAPR Layered Multi-User OTFS Modulation},
author = {Dou Hu and Jin Nakazato and Kazuki Maruta and Omid Abbassi Aghda and Rui Dinis and Manabu Tsukada},
year = {2025},
date = {2025-06-17},
urldate = {2025-06-17},
booktitle = {AI-Driven Connectivity for Vehicular and Wireless Networks in VTC2025-Spring},
address = {Oslo, Norway},
abstract = {In modern communication systems, meeting the growing demand for high-capacity transmission requires developing efficient and robust modulation techniques. To address
this, we propose a low-PAPR page-style Orthogonal Time Frequency Space (OTFS) modulation framework that enhances communication capacity while maintaining a low peak-to-average power ratio (PAPR). The proposed design introduces a novel pilot signal placement and analysis method, improving channel estimation accuracy and system performance in high-mobility multi-user scenarios. This paper provides an overview of recent advancements in OTFS-based multi-user communication systems, emphasizing their contributions to enhancing spectral efficiency, reliability, and robustness. Through extensive simulations, we demonstrate the effectiveness of the proposed framework in achieving superior BER performance, improved interference mitigation, and robust transmission capabilities compared to traditional methods, validating its suitability for next-generation communication networks.},
howpublished = {Workshop on AI-Driven Connectivity for Vehicular and Wireless Networks in VTC2025-Spring},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
In modern communication systems, meeting the growing demand for high-capacity transmission requires developing efficient and robust modulation techniques. To address
this, we propose a low-PAPR page-style Orthogonal Time Frequency Space (OTFS) modulation framework that enhances communication capacity while maintaining a low peak-to-average power ratio (PAPR). The proposed design introduces a novel pilot signal placement and analysis method, improving channel estimation accuracy and system performance in high-mobility multi-user scenarios. This paper provides an overview of recent advancements in OTFS-based multi-user communication systems, emphasizing their contributions to enhancing spectral efficiency, reliability, and robustness. Through extensive simulations, we demonstrate the effectiveness of the proposed framework in achieving superior BER performance, improved interference mitigation, and robust transmission capabilities compared to traditional methods, validating its suitability for next-generation communication networks.
this, we propose a low-PAPR page-style Orthogonal Time Frequency Space (OTFS) modulation framework that enhances communication capacity while maintaining a low peak-to-average power ratio (PAPR). The proposed design introduces a novel pilot signal placement and analysis method, improving channel estimation accuracy and system performance in high-mobility multi-user scenarios. This paper provides an overview of recent advancements in OTFS-based multi-user communication systems, emphasizing their contributions to enhancing spectral efficiency, reliability, and robustness. Through extensive simulations, we demonstrate the effectiveness of the proposed framework in achieving superior BER performance, improved interference mitigation, and robust transmission capabilities compared to traditional methods, validating its suitability for next-generation communication networks.
Koki Ito, Jin Nakazato, Romain Fontugne, Manabu Tsukada, Esaki Hiroshi, "A multipath redundancy communication framework for enhancing 5G mobile communication quality", In: Computer Communications, pp. 108157, 2025, ISSN: 0140-3664.Journal Article | Abstract | BibTeX | Links:
@article{ITO2025108157,
title = {A multipath redundancy communication framework for enhancing 5G mobile communication quality},
author = {Koki Ito and Jin Nakazato and Romain Fontugne and Manabu Tsukada and Esaki Hiroshi},
url = {https://www.sciencedirect.com/science/article/pii/S0140366425001148},
doi = {https://doi.org/10.1016/j.comcom.2025.108157},
issn = {0140-3664},
year = {2025},
date = {2025-04-23},
urldate = {2025-04-23},
journal = {Computer Communications},
pages = {108157},
abstract = {As networks increasingly become the backbone of modern society, the demands placed on them by various applications have become more complex. In particular, the demand for high-capacity, low-latency services such as real-time streaming is increasing every year. Although 5G has been deployed to meet these needs, its effectiveness can vary significantly by location and time, and sometimes falls short of requirements. Traditionally, much of the research to improve communication stability has focused on TCP-based systems, which do not translate well to real-time UDP streaming applications. To address the above challenges, we propose a multipath redundant communication framework designed to improve the quality of real-time media streaming. This framework has been tested using multipath redundant communication over two mobile networks with a moving vehicle in an urban environment. Using a real-time streaming application based on WebRTC, our framework demonstrates a significant reduction in packet loss and an increase in bitrate, outperforming existing multipath redundant communication systems without interfering with the application’s congestion control mechanisms.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
As networks increasingly become the backbone of modern society, the demands placed on them by various applications have become more complex. In particular, the demand for high-capacity, low-latency services such as real-time streaming is increasing every year. Although 5G has been deployed to meet these needs, its effectiveness can vary significantly by location and time, and sometimes falls short of requirements. Traditionally, much of the research to improve communication stability has focused on TCP-based systems, which do not translate well to real-time UDP streaming applications. To address the above challenges, we propose a multipath redundant communication framework designed to improve the quality of real-time media streaming. This framework has been tested using multipath redundant communication over two mobile networks with a moving vehicle in an urban environment. Using a real-time streaming application based on WebRTC, our framework demonstrates a significant reduction in packet loss and an increase in bitrate, outperforming existing multipath redundant communication systems without interfering with the application’s congestion control mechanisms.
Muhammad Asad, Saima Shaukat, Jin Nakazato, Ehsan Javanmardi, Manabu Tsukada, "Federated Learning for Secure and Efficient Vehicular Communications in Open RAN", In: Cluster Computing, vol. 28, no. 211, 2025, ISSN: 1386-7857.Journal Article | Abstract | BibTeX | Links:
@article{Asad2024b,
title = {Federated Learning for Secure and Efficient Vehicular Communications in Open RAN},
author = {Muhammad Asad and Saima Shaukat and Jin Nakazato and Ehsan Javanmardi and Manabu Tsukada},
url = {https://rdcu.be/d7RSW},
doi = {10.1007/s10586-024-04932-3},
issn = {1386-7857},
year = {2025},
date = {2025-01-28},
urldate = {2024-11-25},
journal = {Cluster Computing},
volume = {28},
number = {211},
abstract = {This paper presents a comprehensive exploration of federated learning applied to vehicular communications within the context of Open RAN. Through an in-depth review of existing literature and analysis of fundamental concepts, critical challenges are identified within the current methodologies employed in this sphere. A novel framework is proposed to address these shortcomings, fundamentally based on federated learning principles. This framework aims to enhance security and efficiency in vehicular communications, leveraging the flexibility of Open RAN architecture. The paper further delves into a rigorous justification of the proposed solution, highlighting its potential impact and the improvements it could bring to vehicular communications. Ultimately, this study provides a roadmap for future research in applying federated learning for more secure and efficient vehicular communications in Open RAN, opening up new avenues for exploration in this exciting interdisciplinary domain.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper presents a comprehensive exploration of federated learning applied to vehicular communications within the context of Open RAN. Through an in-depth review of existing literature and analysis of fundamental concepts, critical challenges are identified within the current methodologies employed in this sphere. A novel framework is proposed to address these shortcomings, fundamentally based on federated learning principles. This framework aims to enhance security and efficiency in vehicular communications, leveraging the flexibility of Open RAN architecture. The paper further delves into a rigorous justification of the proposed solution, highlighting its potential impact and the improvements it could bring to vehicular communications. Ultimately, this study provides a roadmap for future research in applying federated learning for more secure and efficient vehicular communications in Open RAN, opening up new avenues for exploration in this exciting interdisciplinary domain.
Nayuta Yamane, Jin Nakazato, Koki Ito, Manabu Mikami, Takahiro Tsuchiya, Manabu Tsukada, Hiroshi Esaki, "Low Latency Redundant Network Architecture for Enhanced 5G Mobile Communication Quality", In: 39th International Conference on Information Networking (ICOIN) 2025, Chiang Mai, Thailand, 2025.Proceedings Article | Abstract | BibTeX
@inproceedings{Yamane2025,
title = {Low Latency Redundant Network Architecture for Enhanced 5G Mobile Communication Quality},
author = {Nayuta Yamane and Jin Nakazato and Koki Ito and Manabu Mikami and Takahiro Tsuchiya and Manabu Tsukada and Hiroshi Esaki},
year = {2025},
date = {2025-01-14},
booktitle = {39th International Conference on Information Networking (ICOIN) 2025},
address = {Chiang Mai, Thailand},
abstract = {With growing demand for high-capacity, low-latency communication driven by the increasing use of video streaming and real-time data applications, efficient data transfer methods have become essential. While 5G technology provides enhanced data transfer capabilities, its directional nature can lead to stability issues, including connection interruptions, frequent handoffs, data loss, and increased latency. To address these challenges, we propose a system architecture with a redundant configuration that separates LTE and 5G-SA within a single MNO, alongside a method to reduce overhead. Initial verification in a stationary environment demonstrated the reduction of latency by 38.1 ms compared to the conventional method, underscoring the potential of our approach for stable and efficient data transmission.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
With growing demand for high-capacity, low-latency communication driven by the increasing use of video streaming and real-time data applications, efficient data transfer methods have become essential. While 5G technology provides enhanced data transfer capabilities, its directional nature can lead to stability issues, including connection interruptions, frequent handoffs, data loss, and increased latency. To address these challenges, we propose a system architecture with a redundant configuration that separates LTE and 5G-SA within a single MNO, alongside a method to reduce overhead. Initial verification in a stationary environment demonstrated the reduction of latency by 38.1 ms compared to the conventional method, underscoring the potential of our approach for stable and efficient data transmission.
Jin Nakazato, Tetsuya Iye, Yuki Susukida, Eisaku Sato, Yuki Sasaki, Kazuki Maruta, Manabu Tsukada
, "Toward 6G Mobility Network: Design of a Wireless Digital Twin for Connected Autonomous Vehicle", 2025 IEEE 22nd Consumer Communications & Networking Conference (CCNC), Poster, 2025.Miscellaneous | BibTeX
@misc{Nakazato2025,
title = {Toward 6G Mobility Network: Design of a Wireless Digital Twin for Connected Autonomous Vehicle},
author = {Jin Nakazato and Tetsuya Iye and Yuki Susukida and Eisaku Sato and Yuki Sasaki and Kazuki Maruta and Manabu Tsukada
},
year = {2025},
date = {2025-01-10},
pages = {1-2},
howpublished = {2025 IEEE 22nd Consumer Communications & Networking Conference (CCNC), Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
2024
Yusuke Sugizaki, Jin Nakazato, Manabu Tsukada, "Digital Twin Based Open Platform for IoT Offloading Control: Enabling System Transparency and User Participation", In: International Conference on Intelligent Computing and its Emerging Applications (ICEA2024), Tokyo, Japan, 2024.Proceedings Article | BibTeX
@inproceedings{Sugizaki2024,
title = {Digital Twin Based Open Platform for IoT Offloading Control: Enabling System Transparency and User Participation},
author = {Yusuke Sugizaki and Jin Nakazato and Manabu Tsukada},
year = {2024},
date = {2024-11-28},
booktitle = {International Conference on Intelligent Computing and its Emerging Applications (ICEA2024)},
address = {Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Vishal Chauhan, Anubhav Anubhav, Chia-Ming Chang, Jin Nakazato, Ehsan Javanmardi, Alex Orsholits, Takeo Igarashi, Kantaro Fujiwara, Manabu Tsukada, "Connected Shared Spaces: Expert Insights into the Impact of eHMI and SPIU for Next-Generation Pedestrian-AV Communication", In: International Conference on Intelligent Computing and its Emerging Applications (ICEA2024), Tokyo, Japan, 2024.Proceedings Article | BibTeX
@inproceedings{Chauhan2024b,
title = {Connected Shared Spaces: Expert Insights into the Impact of eHMI and SPIU for Next-Generation Pedestrian-AV Communication},
author = {Vishal Chauhan and Anubhav Anubhav and Chia-Ming Chang and Jin Nakazato and Ehsan Javanmardi and Alex Orsholits and Takeo Igarashi and Kantaro Fujiwara and Manabu Tsukada},
year = {2024},
date = {2024-11-28},
urldate = {2024-11-28},
booktitle = {International Conference on Intelligent Computing and its Emerging Applications (ICEA2024)},
address = {Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Jin Nakazato, Sojin Ozawa, Yuki Sasaki, Kengo Suzuki, Kazuki Maruta andTetsuya Iye, Yuki Susukida, Eisaku Sato, Manabu Tsukada, "Toward 6G Mobility Networks: A Proposal for Cell-Free Cooperative Distributed Beamforming", In: International Conference on Intelligent Computing and its Emerging Applications (ICEA2024), Tokyo, Japan, 2024.Proceedings Article | BibTeX
@inproceedings{Nakazato2024,
title = {Toward 6G Mobility Networks: A Proposal for Cell-Free Cooperative Distributed Beamforming},
author = {Jin Nakazato and Sojin Ozawa and Yuki Sasaki and Kengo Suzuki and Kazuki Maruta andTetsuya Iye and Yuki Susukida and Eisaku Sato and Manabu Tsukada},
year = {2024},
date = {2024-11-28},
booktitle = {International Conference on Intelligent Computing and its Emerging Applications (ICEA2024)},
address = {Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Koichi Kambara, Ehsan Javanmardi, Jin Nakazato, Shunya Yamada, Hiroaki Takada, Yousuke Watanabe, Kenya Sato, Manabu Tsukada, "Geographic-Aware Network Analysis and Visualization System for CAVs", In: International Conference on Intelligent Computing and its Emerging Applications (ICEA2024), Tokyo, Japan, 2024.Proceedings Article | BibTeX
@inproceedings{Kambara2024,
title = {Geographic-Aware Network Analysis and Visualization System for CAVs},
author = {Koichi Kambara and Ehsan Javanmardi and Jin Nakazato and Shunya Yamada and Hiroaki Takada and Yousuke Watanabe and Kenya Sato and Manabu Tsukada},
year = {2024},
date = {2024-11-28},
booktitle = {International Conference on Intelligent Computing and its Emerging Applications (ICEA2024)},
address = {Tokyo, Japan},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Quanxi Zhou, Yongjing Wang, Ruiyu Shen, Jin Nakazato, Manabu Tsukada, Zhenyu Guan, "Cellular Connected UAV Anti-Interference Path Planning Based on PDS-DDPG and TOPEM", In: IEEE Journal on Miniaturization for Air and Space Systems, 2024, ISSN: 2576-3164.Journal Article | Abstract | BibTeX | Links:
@article{Zhou2024,
title = {Cellular Connected UAV Anti-Interference Path Planning Based on PDS-DDPG and TOPEM},
author = {Quanxi Zhou and Yongjing Wang and Ruiyu Shen and Jin Nakazato and Manabu Tsukada and Zhenyu Guan},
doi = {10.1109/JMASS.2024.3490762},
issn = {2576-3164},
year = {2024},
date = {2024-11-04},
urldate = {2024-11-04},
journal = {IEEE Journal on Miniaturization for Air and Space Systems},
abstract = {Due to the randomness of channel fading, communication devices, and malicious interference sources, unmanned aerial vehicles (UAVs) face a complex and ever-changing task scenario, which poses significant communication security challenges, such as transmission outages. Fortunately, these communication security challenges can be transformed into path planning problems that minimize the weighted sum of UAV mission time and transmission outage time. In order to design the complex communication environment faced by UAVs in actual scenarios, we propose a system model, including building distribution, communication channel, and antenna design in this paper. Besides, we introduce other UAVs with fixed flight paths and ground interference resources with random locations to ensure mission UAVs have better anti-interference ability. However, it is challenging for classical search algorithms and heuristic algorithms to cope with the complex path problems mentioned above. In this paper, we propose an improved deep deterministic policy gradient (DDPG) algorithm with better performance compared with basic DDPG and DDQN algorithms. Specifically, a post-decision state (PDS) mechanism has been introduced to accelerate the convergence rate and enhance the stability of the training process. In addition, a transmission outage probability experience memory (TOPEM) has been designed to quickly generate wireless communication quality maps and provide temporary experience for the post-decision process, resulting in better training results. Simulation experiments have proven that, compared to basic DDPG, the improved algorithm increases training speed by at least 50%, significantly improves convergence rate, and reduces the episode required for convergence to 20%. It can also help UAVs choose better paths than basic DDPG and DDQN algorithms.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Due to the randomness of channel fading, communication devices, and malicious interference sources, unmanned aerial vehicles (UAVs) face a complex and ever-changing task scenario, which poses significant communication security challenges, such as transmission outages. Fortunately, these communication security challenges can be transformed into path planning problems that minimize the weighted sum of UAV mission time and transmission outage time. In order to design the complex communication environment faced by UAVs in actual scenarios, we propose a system model, including building distribution, communication channel, and antenna design in this paper. Besides, we introduce other UAVs with fixed flight paths and ground interference resources with random locations to ensure mission UAVs have better anti-interference ability. However, it is challenging for classical search algorithms and heuristic algorithms to cope with the complex path problems mentioned above. In this paper, we propose an improved deep deterministic policy gradient (DDPG) algorithm with better performance compared with basic DDPG and DDQN algorithms. Specifically, a post-decision state (PDS) mechanism has been introduced to accelerate the convergence rate and enhance the stability of the training process. In addition, a transmission outage probability experience memory (TOPEM) has been designed to quickly generate wireless communication quality maps and provide temporary experience for the post-decision process, resulting in better training results. Simulation experiments have proven that, compared to basic DDPG, the improved algorithm increases training speed by at least 50%, significantly improves convergence rate, and reduces the episode required for convergence to 20%. It can also help UAVs choose better paths than basic DDPG and DDQN algorithms.
Vishal Chauhan, Anubhav Anubhav, Chia-Ming Chang, Jin Nakazato, Ehsan Javanmardi, Alex Orsholits, Takeo Igarashi, Kantaro Fujiwara, Manabu Tsukada
, "Transforming Pedestrian and Autonomous Vehicles Interactions in Shared Spaces: A Think-Tank Study on Exploring Human-Centric Designs", In: 16th International ACM Conference on Automotive User Interfaces and Interactive Vehicular Applications (AutoUI 2024), Work in Progress (WiP), pp. 1-8, California, USA, 2024.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Chauhan2024,
title = {Transforming Pedestrian and Autonomous Vehicles Interactions in Shared Spaces: A Think-Tank Study on Exploring Human-Centric Designs},
author = {Vishal Chauhan and Anubhav Anubhav and Chia-Ming Chang and Jin Nakazato and Ehsan Javanmardi and Alex Orsholits and Takeo Igarashi and Kantaro Fujiwara and Manabu Tsukada
},
doi = {10.1145/3641308.3685037},
year = {2024},
date = {2024-09-22},
urldate = {2024-09-22},
booktitle = {16th International ACM Conference on Automotive User Interfaces and Interactive Vehicular Applications (AutoUI 2024), Work in Progress (WiP)},
pages = {1-8},
address = {California, USA},
abstract = {Our research focuses on the smart pole interaction unit (SPIU) as an infrastructure external human-machine interface (HMI) to enhance pedestrian interaction with autonomous vehicles (AVs) in shared spaces. We extensively study SPIU with external human-machine interfaces (eHMI) on AVs as an integrated solution. To discuss interaction barriers and enhance pedestrian safety, we engaged 25 participants aged 18-40 to brainstorm design solutions for pedestrian-AV interactions, emphasising effectiveness, simplicity, visibility, and clarity. Findings indicate a preference for real-time SPIU interaction over eHMI on AVs in multiple AV scenarios. However, the combined use of SPIU and eHMI on AVs is crucial for building trust in decision-making. Consequently, we propose innovative design solutions for both SPIU and eHMI on AVs, discussing their pros and cons. This study lays the groundwork for future autonomous mobility solutions by developing human-centric eHMI and SPIU prototypes as ieHMI.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Our research focuses on the smart pole interaction unit (SPIU) as an infrastructure external human-machine interface (HMI) to enhance pedestrian interaction with autonomous vehicles (AVs) in shared spaces. We extensively study SPIU with external human-machine interfaces (eHMI) on AVs as an integrated solution. To discuss interaction barriers and enhance pedestrian safety, we engaged 25 participants aged 18-40 to brainstorm design solutions for pedestrian-AV interactions, emphasising effectiveness, simplicity, visibility, and clarity. Findings indicate a preference for real-time SPIU interaction over eHMI on AVs in multiple AV scenarios. However, the combined use of SPIU and eHMI on AVs is crucial for building trust in decision-making. Consequently, we propose innovative design solutions for both SPIU and eHMI on AVs, discussing their pros and cons. This study lays the groundwork for future autonomous mobility solutions by developing human-centric eHMI and SPIU prototypes as ieHMI.
Raphael Trumpp, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Marco Caccamo, "RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning", In: The 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi ,UAE, 2024.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Trumpp2024,
title = {RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning},
author = {Raphael Trumpp and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada and Marco Caccamo},
url = {http://github.com/raphajaner/racemop},
doi = {10.1109/IROS58592.2024.10801657},
year = {2024},
date = {2024-09-14},
urldate = {2024-09-14},
booktitle = {The 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)},
address = {Abu Dhabi ,UAE},
abstract = {The interactive decision-making in multi-agent autonomous racing offers insights valuable beyond the domain of self-driving cars. Mapless online path planning is particularly of practical appeal but poses a challenge for safely overtaking opponents due to the limited planning horizon. Accordingly, this paper introduces RaceMOP, a novel method for mapless online path planning designed for multi-agent racing of F1TENTH cars. Unlike classical planners that depend on predefined racing lines, RaceMOP operates without a map, relying solely on local observations to overtake other race cars at high speed. Our approach combines an artificial potential field method as a base policy with residual policy learning to introduce long-horizon planning capabilities. We advance the field by introducing a novel approach for policy fusion with the residual policy directly in probability space. Our experiments for twelve simulated racetracks validate that RaceMOP is capable of long-horizon decision-making with robust collision avoidance during over- taking maneuvers. RaceMOP demonstrates superior handling over existing mapless planners while generalizing to unknown racetracks, paving the way for further use of our method in robotics. We make the open-source code for RaceMOP available at http://github.com/raphajaner/racemop.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
The interactive decision-making in multi-agent autonomous racing offers insights valuable beyond the domain of self-driving cars. Mapless online path planning is particularly of practical appeal but poses a challenge for safely overtaking opponents due to the limited planning horizon. Accordingly, this paper introduces RaceMOP, a novel method for mapless online path planning designed for multi-agent racing of F1TENTH cars. Unlike classical planners that depend on predefined racing lines, RaceMOP operates without a map, relying solely on local observations to overtake other race cars at high speed. Our approach combines an artificial potential field method as a base policy with residual policy learning to introduce long-horizon planning capabilities. We advance the field by introducing a novel approach for policy fusion with the residual policy directly in probability space. Our experiments for twelve simulated racetracks validate that RaceMOP is capable of long-horizon decision-making with robust collision avoidance during over- taking maneuvers. RaceMOP demonstrates superior handling over existing mapless planners while generalizing to unknown racetracks, paving the way for further use of our method in robotics. We make the open-source code for RaceMOP available at http://github.com/raphajaner/racemop.
Yu Asabe, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Enhancing Reliability in Infrastructure-based Collective Perception: A Dual-Channel Hybrid Delivery Approach with Real-Time Monitoring", In: IEEE Open Journal of Vehicular Technology, vol. 5, pp. 1124-1138, 2024, ISSN: 2644-1330.Journal Article | Abstract | BibTeX | Links:
@article{Asabe2024,
title = {Enhancing Reliability in Infrastructure-based Collective Perception: A Dual-Channel Hybrid Delivery Approach with Real-Time Monitoring},
author = {Yu Asabe and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
doi = {10.1109/OJVT.2024.3443877},
issn = {2644-1330},
year = {2024},
date = {2024-08-30},
urldate = {2024-08-30},
journal = {IEEE Open Journal of Vehicular Technology},
volume = {5},
pages = {1124-1138},
abstract = {Standalone autonomous vehicles primarily rely on their onboard sensors and may have blind spots or limited situational awareness in complex or dynamic traffic scenarios, leading to difficulties in making safe decisions. Collective perception enables connected autonomous vehicles (CAVs) to overcome the limitations of standalone autonomous vehicles by sharing sensory information with nearby road users. However, unfavorable conditions of the wireless communication medium it uses can lead to limited reliability and reduced quality of service. In this paper, we propose methods for increasing the reliability of collective perception through real-time packet delivery rate monitoring and a dual-channel hybrid delivery approach. We have implemented AutowareV2X, a vehicle-to-everything (V2X) communication module integrated into the autonomous driving (AD) software Autoware. AutowareV2X provides connectivity to the AD stack, enabling end-to-end (E2E) experimentation and evaluation of CAVs. The Collective Perception Service (CPS) was also implemented, allowing the transmission of Collective Perception Messages (CPMs). Our proposed methods using AutowareV2X were evaluated using actual hardware and vehicles in reallife field tests. Results have indicated that the E2E network latency of the perception information sent is around 30 ms, and the AD software can use shared object data to conduct collision avoidance maneuvers. The dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information. This enabled the reliable transmission of CPMs even when there was significant packet loss on one of the transmitting channels.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Standalone autonomous vehicles primarily rely on their onboard sensors and may have blind spots or limited situational awareness in complex or dynamic traffic scenarios, leading to difficulties in making safe decisions. Collective perception enables connected autonomous vehicles (CAVs) to overcome the limitations of standalone autonomous vehicles by sharing sensory information with nearby road users. However, unfavorable conditions of the wireless communication medium it uses can lead to limited reliability and reduced quality of service. In this paper, we propose methods for increasing the reliability of collective perception through real-time packet delivery rate monitoring and a dual-channel hybrid delivery approach. We have implemented AutowareV2X, a vehicle-to-everything (V2X) communication module integrated into the autonomous driving (AD) software Autoware. AutowareV2X provides connectivity to the AD stack, enabling end-to-end (E2E) experimentation and evaluation of CAVs. The Collective Perception Service (CPS) was also implemented, allowing the transmission of Collective Perception Messages (CPMs). Our proposed methods using AutowareV2X were evaluated using actual hardware and vehicles in reallife field tests. Results have indicated that the E2E network latency of the perception information sent is around 30 ms, and the AD software can use shared object data to conduct collision avoidance maneuvers. The dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information. This enabled the reliable transmission of CPMs even when there was significant packet loss on one of the transmitting channels.
Tokio Takada, Jin Nakazato, Alex Orsholits, Manabu Tsukada, Hideya Ochiai, Hiroshi Esaki, "Design of Digital Twin Architecture for 3D Audio Visualization in AR", In: The 2nd Annual IEEE International Conference on Metaverse Computing, Networking, and Applications (MetaCom 2024), Hong Kong, China, 2024.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Takada2024,
title = {Design of Digital Twin Architecture for 3D Audio Visualization in AR},
author = {Tokio Takada and Jin Nakazato and Alex Orsholits and Manabu Tsukada and Hideya Ochiai and Hiroshi Esaki},
doi = {10.1109/MetaCom62920.2024.00044},
year = {2024},
date = {2024-08-12},
urldate = {2024-08-12},
booktitle = {The 2nd Annual IEEE International Conference on Metaverse Computing, Networking, and Applications (MetaCom 2024)},
address = {Hong Kong, China},
abstract = {Digital twins have recently attracted attention from academia and industry as a technology connecting physical space and cyberspace. Digital twins are compatible with Augmented Reality (AR) and Virtual Reality (VR), enabling us to understand information in cyberspace. In this study, we focus on music and design an architecture for a 3D representation of music using a digital twin. Specifically, we organize the requirements for a digital twin for music and design the architecture. We establish a method to perform 3D representation in cyberspace and map the recorded audio data in physical space. In this paper, we implemented the physical space representation using a smartphone as an AR device and employed a visual positioning system (VPS) for self-positioning. For evaluation, in addition to system errors in the 3D representation of audio data, we conducted a questionnaire evaluation with several users as a user study. From these results, we evaluated the effectiveness of the implemented system. At the same time, we also found issues we need to improve in the implemented system in future works.},
key = {CREST},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Digital twins have recently attracted attention from academia and industry as a technology connecting physical space and cyberspace. Digital twins are compatible with Augmented Reality (AR) and Virtual Reality (VR), enabling us to understand information in cyberspace. In this study, we focus on music and design an architecture for a 3D representation of music using a digital twin. Specifically, we organize the requirements for a digital twin for music and design the architecture. We establish a method to perform 3D representation in cyberspace and map the recorded audio data in physical space. In this paper, we implemented the physical space representation using a smartphone as an AR device and employed a visual positioning system (VPS) for self-positioning. For evaluation, in addition to system errors in the 3D representation of audio data, we conducted a questionnaire evaluation with several users as a user study. From these results, we evaluated the effectiveness of the implemented system. At the same time, we also found issues we need to improve in the implemented system in future works.
Ryo Iwaki, Jin Nakazato, Kazuki Maruta, Manabu Tsukada, Hideya Ochiai, Hiroshi Esaki, "Enhancing V2X Communication: Machine Learning Assisted Dynamic mmWave Beam Search", In: The 15th International Conference on Ubiquitous and Future Networks (ICUFN2024), Budapest, Hungary, 2024, (Best Paper Award).Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Iwaki2024b,
title = {Enhancing V2X Communication: Machine Learning Assisted Dynamic mmWave Beam Search},
author = {Ryo Iwaki and Jin Nakazato and Kazuki Maruta and Manabu Tsukada and Hideya Ochiai and Hiroshi Esaki},
doi = {10.1109/ICUFN61752.2024.10625435},
year = {2024},
date = {2024-07-02},
urldate = {2024-07-02},
booktitle = {The 15th International Conference on Ubiquitous and Future Networks (ICUFN2024)},
address = {Budapest, Hungary},
abstract = {Only the chairs can edit This paper addresses the challenges of dynamic beam search in millimeter wave (mmWave) communications for vehicle-to-everything (V2X) applications. With the rapid mobility of connected autonomous vehicles (CAVs) and dense urban environments, maintaining high-quality mmWave connections is critical for the reliability and efficiency of V2X communications. We propose a novel machine learning-assisted framework for dynamic mmWave beam search, which significantly enhances the adaptability and performance of V2X communication systems. Our approach leverages real-time environmental data and CAV dynamics to predict optimal beam directions, improving connection stability. Simulation results demonstrate the effectiveness of the proposed method in a real-world road scenario, offering a partial improvement over conventional beam search techniques.},
note = {Best Paper Award},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Only the chairs can edit This paper addresses the challenges of dynamic beam search in millimeter wave (mmWave) communications for vehicle-to-everything (V2X) applications. With the rapid mobility of connected autonomous vehicles (CAVs) and dense urban environments, maintaining high-quality mmWave connections is critical for the reliability and efficiency of V2X communications. We propose a novel machine learning-assisted framework for dynamic mmWave beam search, which significantly enhances the adaptability and performance of V2X communication systems. Our approach leverages real-time environmental data and CAV dynamics to predict optimal beam directions, improving connection stability. Simulation results demonstrate the effectiveness of the proposed method in a real-world road scenario, offering a partial improvement over conventional beam search techniques.
Atsuki Yoshimura, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Towards Robust Communication in ITS: A Comprehensive Study of Blockchain for V2I", In: The 15th International Conference on Ubiquitous and Future Networks (ICUFN2024), Budapest, Hungary, 2024.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Yoshimura2024,
title = {Towards Robust Communication in ITS: A Comprehensive Study of Blockchain for V2I},
author = {Atsuki Yoshimura and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
doi = {10.1109/ICUFN61752.2024.10624948},
year = {2024},
date = {2024-07-02},
urldate = {2024-07-02},
booktitle = {The 15th International Conference on Ubiquitous and Future Networks (ICUFN2024)},
address = {Budapest, Hungary},
abstract = {V2X in connected autonomous vehicles (CAV) plays an important role in information sharing through communication. The integration of V2X and blockchain has the potential to create functionalities such as seamless V2X information sharing, similar to Bitcoin, and post-accident investigation utilities that leverage data immutability. However, the integration of blockchain into V2X communication requires addressing CAV mobility. In this study, we propose a framework that takes into account the high mobility of CAVs. Furthermore, we propose a method that not only addresses this challenge but also achieves load balancing by facilitating cooperation among nodes responsible for member management. In this paper, we integrate the ITS simulator, the communication simulator, and the blockchain simulator to build an infrastructure that can be evaluated end-to-end. Using the integrated simulator, we perform an evaluation based on metrics such as latency and member change rate in a mobile environment with a single roadside unit (RSU). In the future, we plan to implement the proposed methodology and perform evaluations in environments with multiple RSUs.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
V2X in connected autonomous vehicles (CAV) plays an important role in information sharing through communication. The integration of V2X and blockchain has the potential to create functionalities such as seamless V2X information sharing, similar to Bitcoin, and post-accident investigation utilities that leverage data immutability. However, the integration of blockchain into V2X communication requires addressing CAV mobility. In this study, we propose a framework that takes into account the high mobility of CAVs. Furthermore, we propose a method that not only addresses this challenge but also achieves load balancing by facilitating cooperation among nodes responsible for member management. In this paper, we integrate the ITS simulator, the communication simulator, and the blockchain simulator to build an infrastructure that can be evaluated end-to-end. Using the integrated simulator, we perform an evaluation based on metrics such as latency and member change rate in a mobile environment with a single roadside unit (RSU). In the future, we plan to implement the proposed methodology and perform evaluations in environments with multiple RSUs.
Weiqi Chi, Jin Nakazato, Tomoki Murakami, Manabu Tsukada, "V2I Blockage Modeling and Performance Evaluation for Connected Autonomous Vehicle", In: The IEEE 99th Vehicular Technology Conference (VTC2024-Spring), Singapore, 2024, (IEEE VTS Tokyo/Japan Chapter Young Researcher's Encouragement Award).Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Chi2024,
title = {V2I Blockage Modeling and Performance Evaluation for Connected Autonomous Vehicle},
author = {Weiqi Chi and Jin Nakazato and Tomoki Murakami and Manabu Tsukada},
doi = {10.1109/VTC2024-Spring62846.2024.10683381},
year = {2024},
date = {2024-06-24},
urldate = {2024-06-24},
booktitle = {The IEEE 99th Vehicular Technology Conference (VTC2024-Spring)},
address = {Singapore},
abstract = {The burgeoning Intelligent Transportation System (ITS) spurs global technological advancements, notably in innovative community development through vehicle-to-everything (V2X) communication. This study focuses on the high data rates and low latency offered by a millimeter-wave (mmWave) enabled vehicular network while addressing the significant challenge of link quality degradation due to blockages, exacerbated by the mmWave band’s small wavelength in high mobility and traffic conditions. We propose an RSU-assisted ITS system tailored for multi-lane, straight-road scenarios, effectively identifying blockage status for vehicles. Combining Simulation of Urban Mobility (SUMO) and MATLAB, this blockage-aware scheme lays the groundwork for future ITS enhancements. The research also delves into the effects of various frequency bands, vehicle types, and communication ranges, offering a holistic system performance analysis.},
note = {IEEE VTS Tokyo/Japan Chapter Young Researcher's Encouragement Award},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
The burgeoning Intelligent Transportation System (ITS) spurs global technological advancements, notably in innovative community development through vehicle-to-everything (V2X) communication. This study focuses on the high data rates and low latency offered by a millimeter-wave (mmWave) enabled vehicular network while addressing the significant challenge of link quality degradation due to blockages, exacerbated by the mmWave band’s small wavelength in high mobility and traffic conditions. We propose an RSU-assisted ITS system tailored for multi-lane, straight-road scenarios, effectively identifying blockage status for vehicles. Combining Simulation of Urban Mobility (SUMO) and MATLAB, this blockage-aware scheme lays the groundwork for future ITS enhancements. The research also delves into the effects of various frequency bands, vehicle types, and communication ranges, offering a holistic system performance analysis.
Sojin Ozawa, Yuki Sasaki, Jin Nakazato, Manabu Tsukada, Kazuki Maruta, "Toward O-RAN-based Cell-Free Architecture: Cooperative O-RU/V2X mmWave Beam Tracking", Technologies and Proof-of-Concept Activities for 6G 2024 (TPoC6G 2024) at The IEEE 99th Vehicular Technology Conference (VTC2024-Spring), Singapore, 2024, (IEEE VTS Tokyo/Japan Chapter Young Researcher's Encouragement Award).Workshop | Abstract | BibTeX
@workshop{Ozawa2024b,
title = {Toward O-RAN-based Cell-Free Architecture: Cooperative O-RU/V2X mmWave Beam Tracking},
author = {Sojin Ozawa and Yuki Sasaki and Jin Nakazato and Manabu Tsukada and Kazuki Maruta},
year = {2024},
date = {2024-06-24},
urldate = {2024-06-24},
booktitle = {Technologies and Proof-of-Concept Activities for 6G 2024 (TPoC6G 2024) at The IEEE 99th Vehicular Technology Conference (VTC2024-Spring)},
address = {Singapore},
abstract = {Coordination of connected autonomated vehicles (CAVs) is expected to provide a more efficient sequential route design and enhance safety. This is accomplished by sharing sensor data among roadside equipment and other vehicles. Given the substantial volume of sensor data involved, it is advantageous to employ millimeter-wave (mmWave) band. MmWave offers high-speed and large-capacity for transmission. However, wireless communication systems designed for CAVs face the challenge of radio signal degradation caused by the movement of vehicles. This paper proposes a fast beam tracking Open Radio Access Network (O-RAN) architecture for CAVs. The most prominent aspect of this system is its Near-Realtime (Near-RT) RAN Intelligent Controller (RIC), which swiftly adjusts and tracks the beam using vehicle information transmitted every 100 msec by CAV. By conducting simulations using Simulation of Urban Mobility (SUMO), which emulates vehicle movement on various roads, we verified the effective operation of the proposed architechture.
},
note = {IEEE VTS Tokyo/Japan Chapter Young Researcher's Encouragement Award},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
Coordination of connected autonomated vehicles (CAVs) is expected to provide a more efficient sequential route design and enhance safety. This is accomplished by sharing sensor data among roadside equipment and other vehicles. Given the substantial volume of sensor data involved, it is advantageous to employ millimeter-wave (mmWave) band. MmWave offers high-speed and large-capacity for transmission. However, wireless communication systems designed for CAVs face the challenge of radio signal degradation caused by the movement of vehicles. This paper proposes a fast beam tracking Open Radio Access Network (O-RAN) architecture for CAVs. The most prominent aspect of this system is its Near-Realtime (Near-RT) RAN Intelligent Controller (RIC), which swiftly adjusts and tracks the beam using vehicle information transmitted every 100 msec by CAV. By conducting simulations using Simulation of Urban Mobility (SUMO), which emulates vehicle movement on various roads, we verified the effective operation of the proposed architechture.
Koki Ito, Jin Nakazato, Romain Fontugne, Manabu Tsukada, Hiroshi Esaki, "Enhancing Real-Time Streaming Quality through a Multipath Redundant Communication Framework", In: IFIP/IEEE Networking 2024, Thessaloniki, Greece, 2024.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Ito2024,
title = {Enhancing Real-Time Streaming Quality through a Multipath Redundant Communication Framework},
author = {Koki Ito and Jin Nakazato and Romain Fontugne and Manabu Tsukada and Hiroshi Esaki},
doi = {10.23919/IFIPNetworking62109.2024.10619885},
year = {2024},
date = {2024-06-03},
urldate = {2024-06-03},
booktitle = {IFIP/IEEE Networking 2024},
address = {Thessaloniki, Greece},
abstract = {Recently, as networks operate as the infrastructure of modern society, the demands placed on the network by applications have become more complex. In particular, an increasing annual demand for high-capacity and low-latency services, including real-time streaming. 5G services have been launched to meet this demand, but their stability varies de- pending on location and time and can only sometimes be considered sufficient. One method to improve communication stability is multipath redundant communication, and much research has been conducted in this area. However, most of this research has focused on TCP-based communication and cannot be applied to real-time UDP streaming. Hence, we propose a multipath redundant communication framework to improve the quality of real-time media streaming communication. Tunneling at the IP layer in our proposed framework was performed to overcome the limitations of transport layer protocols, which was a challenge for traditional multipath redundant communication systems. Furthermore, to address the packet order inconsistency caused by multipath redundant communication, a buffering mechanism was implemented on the receiving side of our system. Our proposed system was verified using multipath redundant communication and multiple mobile networks from a vehicle moving in an urban area. The experiments used a real-time streaming application based on WebRTC, and the framework significantly reduced packet loss and improved bitrate compared to existing multipath redundant communication systems without interfering with the application’s congestion control.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Recently, as networks operate as the infrastructure of modern society, the demands placed on the network by applications have become more complex. In particular, an increasing annual demand for high-capacity and low-latency services, including real-time streaming. 5G services have been launched to meet this demand, but their stability varies de- pending on location and time and can only sometimes be considered sufficient. One method to improve communication stability is multipath redundant communication, and much research has been conducted in this area. However, most of this research has focused on TCP-based communication and cannot be applied to real-time UDP streaming. Hence, we propose a multipath redundant communication framework to improve the quality of real-time media streaming communication. Tunneling at the IP layer in our proposed framework was performed to overcome the limitations of transport layer protocols, which was a challenge for traditional multipath redundant communication systems. Furthermore, to address the packet order inconsistency caused by multipath redundant communication, a buffering mechanism was implemented on the receiving side of our system. Our proposed system was verified using multipath redundant communication and multiple mobile networks from a vehicle moving in an urban area. The experiments used a real-time streaming application based on WebRTC, and the framework significantly reduced packet loss and improved bitrate compared to existing multipath redundant communication systems without interfering with the application’s congestion control.
Donghui Li, Jin Nakazato, Manabu Tsukada, "A State-Interactive MAC Layer TDMA Protocol Based on Smart Antennas", In: Electronics, vol. 13, no. 11, 2024, ISSN: 2079-9292.Journal Article | Abstract | BibTeX | Links:
@article{electronics13112037,
title = {A State-Interactive MAC Layer TDMA Protocol Based on Smart Antennas},
author = {Donghui Li and Jin Nakazato and Manabu Tsukada},
url = {https://www.mdpi.com/2079-9292/13/11/2037},
doi = {10.3390/electronics13112037},
issn = {2079-9292},
year = {2024},
date = {2024-05-23},
urldate = {2024-01-01},
journal = {Electronics},
volume = {13},
number = {11},
abstract = {Mobile ad hoc networks are self-organizing networks that do not rely on fixed infrastructure. Smart antennas employ advanced beamforming technology, enabling ultra-long-range directional transmission in wireless networks, which leads to lower power consumption and better utilization of spatial resources. The media access control (MAC) protocol design using smart antennas can lead to efficient usage of channel resources. However, during ultra-long-distance transmissions, there may be significant transport delays. In addition, when using the time division multiple access (TDMA) schemes, it can be difficult to manage conflicts arising from adjacent time slot advancement caused by latency compensation in ultra-long-range propagation. Directional transmission and reception can also cause interference between links that reuse the same time slot. This paper proposes a new distributed dynamic TDMA protocol called State Interaction-based Slot Allocation Protocol (SISAP) to address these issues. This protocol is based on slot states and includes TDMA frame structure, slot allocation process, interference self-avoidance strategy, and slot allocation algorithms. According to the simulation results, the MAC layer design scheme suggested in this paper can achieve ultra-long-distance transmission without conflicts. Additionally, it can reduce the interference between links while space multiplexing. Furthermore, the system exhibits remarkable performance in various network aspects, such as throughput and link delay.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Mobile ad hoc networks are self-organizing networks that do not rely on fixed infrastructure. Smart antennas employ advanced beamforming technology, enabling ultra-long-range directional transmission in wireless networks, which leads to lower power consumption and better utilization of spatial resources. The media access control (MAC) protocol design using smart antennas can lead to efficient usage of channel resources. However, during ultra-long-distance transmissions, there may be significant transport delays. In addition, when using the time division multiple access (TDMA) schemes, it can be difficult to manage conflicts arising from adjacent time slot advancement caused by latency compensation in ultra-long-range propagation. Directional transmission and reception can also cause interference between links that reuse the same time slot. This paper proposes a new distributed dynamic TDMA protocol called State Interaction-based Slot Allocation Protocol (SISAP) to address these issues. This protocol is based on slot states and includes TDMA frame structure, slot allocation process, interference self-avoidance strategy, and slot allocation algorithms. According to the simulation results, the MAC layer design scheme suggested in this paper can achieve ultra-long-distance transmission without conflicts. Additionally, it can reduce the interference between links while space multiplexing. Furthermore, the system exhibits remarkable performance in various network aspects, such as throughput and link delay.
Kengo Suzuki, Jin Nakazato, Yuki Sasaki, Kazuki Maruta, Manabu Tsukada, Hiroshi Esaki, "Toward B5G/6G Connected Autonomous Vehicles: O-RAN-Driven Millimeter-Wave Beam Management and Handover Management", IEEE INFOCOM WKSHPS, Next-generation Open and Programmable Radio Access Networks (NG-OPERA 2024), Vancouver, Canada, 2024, (Best Paper Award).Workshop | Abstract | BibTeX | Links:
@workshop{Suzuki2024,
title = {Toward B5G/6G Connected Autonomous Vehicles: O-RAN-Driven Millimeter-Wave Beam Management and Handover Management},
author = {Kengo Suzuki and Jin Nakazato and Yuki Sasaki and Kazuki Maruta and Manabu Tsukada and Hiroshi Esaki},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/378439256_Toward_B5G6G_Connected_Autonomous_Vehicles_O-RAN-Driven_Millimeter-Wave_Beam_Management_and_Handover_Management/links/664b976f0b0d2845744b1ea8/Toward-B5G-6G-Connected-Autonomous-Vehicles-O-RAN-Driven-Millimeter-Wave-Beam-Management-and-Handover-Management.pdf},
year = {2024},
date = {2024-05-20},
urldate = {2024-05-20},
booktitle = {IEEE INFOCOM WKSHPS, Next-generation Open and Programmable Radio Access Networks (NG-OPERA 2024)},
address = {Vancouver, Canada},
abstract = {Connected autonomous vehicles (CAVs) are crucial to a future society that embraces advanced technologies. For these vehicles to effectively share information with nearby vehicles or infrastructures through vehicle-to-everything (V2X) interfaces, stable mmWave communication is essential yet challenging. This paper presents an innovative approach to millimeter-wave beam management for CAVs, utilizing open radio access network (O- RAN) architecture to improve beam and handover efficiency in diverse road scenarios. Our approach uniquely combines CAV application data with mobility management to predict vehicles’ location. Our findings show that this method substantially surpasses the traditional beam sweeping method by consistently maintaining a higher signal-to-noise ratio (SNR), even in challenging scenarios such as vehicle obstruction at intersections. This research underscores the potential of integrating O-RAN with vehicle-to-infrastructure (V2I) communication in CAVs, paving the way for future advancements in autonomous transportation technology.},
note = {Best Paper Award},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
Connected autonomous vehicles (CAVs) are crucial to a future society that embraces advanced technologies. For these vehicles to effectively share information with nearby vehicles or infrastructures through vehicle-to-everything (V2X) interfaces, stable mmWave communication is essential yet challenging. This paper presents an innovative approach to millimeter-wave beam management for CAVs, utilizing open radio access network (O- RAN) architecture to improve beam and handover efficiency in diverse road scenarios. Our approach uniquely combines CAV application data with mobility management to predict vehicles’ location. Our findings show that this method substantially surpasses the traditional beam sweeping method by consistently maintaining a higher signal-to-noise ratio (SNR), even in challenging scenarios such as vehicle obstruction at intersections. This research underscores the potential of integrating O-RAN with vehicle-to-infrastructure (V2I) communication in CAVs, paving the way for future advancements in autonomous transportation technology.
Dou Hu, Jin Nakazato, Ehsan Javanmardi, Muhammad Asad, Maruta Kazuki, Manabu Tsukada, "A Research of Kalman Filter enabled Beam Tracking for Multiple Vehicles", ASPIRE Workshop 2024 in conjunction with the IEICE General Conference, Hiroshima, Japan, 2024, ISBN: 2188-5079.Workshop | Abstract | BibTeX | Links:
@workshop{Hu2024,
title = {A Research of Kalman Filter enabled Beam Tracking for Multiple Vehicles},
author = {Dou Hu and Jin Nakazato and Ehsan Javanmardi and Muhammad Asad and Maruta Kazuki and Manabu Tsukada},
url = {https://www.ieice.org/publications/proceedings/bin/pdf_link.php?fname=15.pdf&iconf=ASPIRE_WS&year=2024&vol=80&number=P-15&lang=E?.pdf},
doi = {10.34385/proc.80.P-15},
isbn = {2188-5079},
year = {2024},
date = {2024-03-05},
urldate = {2024-03-05},
booktitle = {ASPIRE Workshop 2024 in conjunction with the IEICE General Conference},
address = {Hiroshima, Japan},
abstract = {In the era of Beyond 5G, the significance of interdisciplinary research has become increasingly important. Within this context, the Kalman filter, a technology integral to self-positioning estimation in autonomous driving, is already being adopted in various societal applications. This study proposes a method wherein beam tracking, in conjunction with the Kalman filter, is an alternative to GPS in specific scenarios. This research is particularly relevant in environments such as intersections flanked by high-rise buildings, where GPS signals are prone to interference.
},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
In the era of Beyond 5G, the significance of interdisciplinary research has become increasingly important. Within this context, the Kalman filter, a technology integral to self-positioning estimation in autonomous driving, is already being adopted in various societal applications. This study proposes a method wherein beam tracking, in conjunction with the Kalman filter, is an alternative to GPS in specific scenarios. This research is particularly relevant in environments such as intersections flanked by high-rise buildings, where GPS signals are prone to interference.
Yuki Sasaki, Sojin Ozawa, Kabuto Arai, Jin Nakazato, Manabu Tsukada, Kazuki Maruta, "Beam-Space Expansion with Broad-Range Null-Steering for V2I Multiuser MIMO Transmission", ASPIRE Workshop 2024 in conjunction with the IEICE General Conference, Hiroshima, Japan, 2024, ISBN: 2188-5079.Workshop | Abstract | BibTeX | Links:
@workshop{Sasaki2024b,
title = {Beam-Space Expansion with Broad-Range Null-Steering for V2I Multiuser MIMO Transmission},
author = {Yuki Sasaki and Sojin Ozawa and Kabuto Arai and Jin Nakazato and Manabu Tsukada and Kazuki Maruta},
url = {https://www.ieice.org/publications/proceedings/bin/pdf_link.php?fname=8.pdf&iconf=ASPIRE_WS&year=2024&vol=80&number=P-8&lang=E?.pdf},
doi = {10.34385/proc.80.P-8},
isbn = {2188-5079},
year = {2024},
date = {2024-03-05},
urldate = {2024-03-05},
booktitle = {ASPIRE Workshop 2024 in conjunction with the IEICE General Conference},
address = {Hiroshima, Japan},
abstract = {This paper proposes a novel inter-user interference (IUI) suppression approach in multiuser MIMO (MU-MIMO) with time-varying channel environments. It introduces location based beam-space expansion (BSE) scheme for vehicle-to-infrastructure (V2I) MU-MIMO transmission. This scheme expands the main lobe of the beam based on vehicle location information. MU-MIMO enables to enhance spectral efficiency in V2I by multiplexing a number of user terminals (UTs) in spatial domain. However, UTs move at high speed, which causes IUI. Null-space expansion (NSE) and broad-range null-steering (BRNS) improves IUI suppression capability by only steering nulls to interfering users. The proposed BSE expands the beam for the desired user. The performance of NSE, BRNS and BSE are compared through computer simulation to show the effectiveness of BSE.},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
This paper proposes a novel inter-user interference (IUI) suppression approach in multiuser MIMO (MU-MIMO) with time-varying channel environments. It introduces location based beam-space expansion (BSE) scheme for vehicle-to-infrastructure (V2I) MU-MIMO transmission. This scheme expands the main lobe of the beam based on vehicle location information. MU-MIMO enables to enhance spectral efficiency in V2I by multiplexing a number of user terminals (UTs) in spatial domain. However, UTs move at high speed, which causes IUI. Null-space expansion (NSE) and broad-range null-steering (BRNS) improves IUI suppression capability by only steering nulls to interfering users. The proposed BSE expands the beam for the desired user. The performance of NSE, BRNS and BSE are compared through computer simulation to show the effectiveness of BSE.
Sojin Ozawa, Yuki Sasaki, Ryo Iwaki, Jin Nakazato, Manabu Tsukada, Kazuki Maruta
, "Laboratory Experiment of Broad-Range Null-Steering for Millimeter-Wave V2I Multiuser MIMO", ASPIRE Workshop 2024 in conjunction with the IEICE General Conference, Hiroshima, Japan, 2024, ISSN: 2188-5079.Workshop | Abstract | BibTeX | Links:
@workshop{Ozawa2024,
title = {Laboratory Experiment of Broad-Range Null-Steering for Millimeter-Wave V2I Multiuser MIMO},
author = {Sojin Ozawa and Yuki Sasaki and Ryo Iwaki and Jin Nakazato and Manabu Tsukada and Kazuki Maruta
},
url = {https://www.ieice.org/publications/proceedings/bin/pdf_link.php?fname=19.pdf&iconf=ASPIRE_WS&year=2024&vol=80&number=P-19&lang=E?.pdf},
doi = {10.34385/proc.80.P-19},
issn = {2188-5079},
year = {2024},
date = {2024-03-05},
urldate = {2024-03-05},
booktitle = {ASPIRE Workshop 2024 in conjunction with the IEICE General Conference},
address = {Hiroshima, Japan},
abstract = {This paper demonstrates the practical effectiveness of our proposed broad-range null-steering (BRNS) scheme through indoor experiment using 28-GHz band 4-element array antenna transmission system.For realization of cooperative automated driving, use of millimeter-wave band and multiuser multiple-input multiple-output (MIMO) are essential. However, inter-user interference is an challenging issue to perform spatial multiplexing under mobility environment due to outdated channel state information (CSI). BRNS was previously proposed that additionally nullifies around interfering users based on geometrical information of vehicles that can be obtained through cooperative awareness message (CAM). Its effectiveness have been confirmed through computer simulations, supposing cooperative automated operation in V2X. Our laboratory-experimental result confirms null-steering range can be expanded.},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
This paper demonstrates the practical effectiveness of our proposed broad-range null-steering (BRNS) scheme through indoor experiment using 28-GHz band 4-element array antenna transmission system.For realization of cooperative automated driving, use of millimeter-wave band and multiuser multiple-input multiple-output (MIMO) are essential. However, inter-user interference is an challenging issue to perform spatial multiplexing under mobility environment due to outdated channel state information (CSI). BRNS was previously proposed that additionally nullifies around interfering users based on geometrical information of vehicles that can be obtained through cooperative awareness message (CAM). Its effectiveness have been confirmed through computer simulations, supposing cooperative automated operation in V2X. Our laboratory-experimental result confirms null-steering range can be expanded.
Muhammad Asad, Saima Shaukat, Ehsan Javanmardi, Jin Nakazato, Naren Bao, Manabu Tsukada, "Secure and Efficient Blockchain-based Federated Learning Approach For VANETs", In: IEEE Internet of Things Journal, vol. 11, iss. 5, pp. 9047-9055, 2024, ISSN: 2327-4662.Journal Article | Abstract | BibTeX | Links:
@article{Asad2024,
title = {Secure and Efficient Blockchain-based Federated Learning Approach For VANETs},
author = {Muhammad Asad and Saima Shaukat and Ehsan Javanmardi and Jin Nakazato and Naren Bao and Manabu Tsukada},
doi = {10.1109/JIOT.2023.3322221},
issn = {2327-4662},
year = {2024},
date = {2024-03-01},
urldate = {2023-10-05},
journal = {IEEE Internet of Things Journal},
volume = {11},
issue = {5},
pages = {9047-9055},
abstract = {The rapid increase in the number of connected vehicles on roads has made Vehicular Ad-hoc Networks (VANETs) an attractive target for malicious actors. As a result, VANETs require secure data transmission to maintain the network’s integrity. Federated Learning (FL) has been proposed as a secure data-sharing method for VANETs, but it is limited in its ability to protect sensitive data. This paper proposes integrating Blockchain technology into FL to provide an additional layer of security for VANETs. In particular, we propose a Secure and Efficient Blockchain-based FL (SEBFL) approach to ensure communication efficiency and data privacy in VANETs. To this end, we use the FL model for VANETs, where computation tasks are decomposed from a base station to individual vehicles. This effectively reduces the congestion delay and communication overhead. Integrating blockchain with the FL model provides a reliable and secure data communication system between vehicles, roadside units, and a cloud server. Additionally, we use a Homomorphic Encryption System (HES) that effectively preserves the confidentiality and credibility of vehicles. Besides, the proposed SEBFL leverages the asynchronous FL model, minimizing the long delay while avoiding possible threats and attacks using HES. The experiment results show the proposed SEBFL achieves 0.87% accuracy while a model inversion attack and 0.86% accuracy while a membership inference attack.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The rapid increase in the number of connected vehicles on roads has made Vehicular Ad-hoc Networks (VANETs) an attractive target for malicious actors. As a result, VANETs require secure data transmission to maintain the network’s integrity. Federated Learning (FL) has been proposed as a secure data-sharing method for VANETs, but it is limited in its ability to protect sensitive data. This paper proposes integrating Blockchain technology into FL to provide an additional layer of security for VANETs. In particular, we propose a Secure and Efficient Blockchain-based FL (SEBFL) approach to ensure communication efficiency and data privacy in VANETs. To this end, we use the FL model for VANETs, where computation tasks are decomposed from a base station to individual vehicles. This effectively reduces the congestion delay and communication overhead. Integrating blockchain with the FL model provides a reliable and secure data communication system between vehicles, roadside units, and a cloud server. Additionally, we use a Homomorphic Encryption System (HES) that effectively preserves the confidentiality and credibility of vehicles. Besides, the proposed SEBFL leverages the asynchronous FL model, minimizing the long delay while avoiding possible threats and attacks using HES. The experiment results show the proposed SEBFL achieves 0.87% accuracy while a model inversion attack and 0.86% accuracy while a membership inference attack.
Kazuki Maruta, Jin Nakazato, Kengo Suzuki, Dou Hu, Ryo Iwaki, Sojin Ozawa, Yuki Sasaki, Hideya So, Manabu Tsukada, "Millimeter-Wave Fast Beam Tracking Enabled by RAN/V2X Cooperation", In: International Conference on Artificial Intelligence in Information and Communication (ICAIIC 2024), Osaka, Japan, 2024, (Excellent Paper Award).Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Maruta2024,
title = {Millimeter-Wave Fast Beam Tracking Enabled by RAN/V2X Cooperation},
author = {Kazuki Maruta and Jin Nakazato and Kengo Suzuki and Dou Hu and Ryo Iwaki and Sojin Ozawa and Yuki Sasaki and Hideya So and Manabu Tsukada},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/376818826_Millimeter-Wave_Fast_Beam_Tracking_Enabled_by_RANV2X_Cooperation/links/658ac62e6f6e450f19a60664/Millimeter-Wave-Fast-Beam-Tracking-Enabled-by-RAN-V2X-Cooperation.pdf},
doi = {10.1109/ICAIIC60209.2024.10463482},
year = {2024},
date = {2024-02-19},
urldate = {2024-02-19},
booktitle = {International Conference on Artificial Intelligence in Information and Communication (ICAIIC 2024)},
address = {Osaka, Japan},
abstract = {Only the chairs can edit Automated driving has the same limitations as human drivers because it functions as a replacement for humans and operates based on local information using onboard sensors and computers. Cooperative automated driving is expected to achieve both safety and efficiency, which could not be achieved by imitating human driving, by sharing sensor information from roadside equipment and other vehicles. Since such sensor information is enormous, it is desirable to utilize millimeter-waves, which are capable of high-capacity transmission. However, wireless communication systems for cooperative automated driving have the challenge of radio quality degradation due to vehicle movement. Our research project aims to realize stable millimeter-wave transmission by incorporating Open RAN (O-RAN) and vehicle-to-everything (V2X) functions. This paper presents the overall proposed concept and an example of validation; we show the results of evaluating our previously proposed fast beam following scheme in a handover environment with multiple roadside units.},
note = {Excellent Paper Award},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Only the chairs can edit Automated driving has the same limitations as human drivers because it functions as a replacement for humans and operates based on local information using onboard sensors and computers. Cooperative automated driving is expected to achieve both safety and efficiency, which could not be achieved by imitating human driving, by sharing sensor information from roadside equipment and other vehicles. Since such sensor information is enormous, it is desirable to utilize millimeter-waves, which are capable of high-capacity transmission. However, wireless communication systems for cooperative automated driving have the challenge of radio quality degradation due to vehicle movement. Our research project aims to realize stable millimeter-wave transmission by incorporating Open RAN (O-RAN) and vehicle-to-everything (V2X) functions. This paper presents the overall proposed concept and an example of validation; we show the results of evaluating our previously proposed fast beam following scheme in a handover environment with multiple roadside units.
Sojin Ozawa, Tokio Ikuta, Yuki Sasaki, Ryo Iwaki, Jin Nakazato, Manabu Tsukada, Hideya So, Kazuki Maruta, "Location-Aided Fast Beam Tracking Algorithm for Millimeter-Wave V2I", In: IEICE Communications Express (ComEX), 2024, (ComEX Top Downloaded Letter Award).Journal Article | Abstract | BibTeX | Links:
@article{nokey,
title = {Location-Aided Fast Beam Tracking Algorithm for Millimeter-Wave V2I},
author = {Sojin Ozawa and Tokio Ikuta and Yuki Sasaki and Ryo Iwaki and Jin Nakazato and Manabu Tsukada and Hideya So and Kazuki Maruta},
doi = {10.23919/comex.2024XBL0001},
year = {2024},
date = {2024-02-15},
urldate = {2024-02-15},
journal = {IEICE Communications Express (ComEX)},
abstract = {This article proposes a millimeter-wave fast beam tracking algorithm for moving vehicles, considering a geometry of road environment. Focusing on the fact that vehicle movement is constrained on roads, horizontal and vertical beam directions are determined based on obtainable driving direction and road shape. In addition, we perform a two-pattern beam selection for the vehicle’s forward and rearward directions to esti- mate the beam tracking speed. By conducting simulations using SUMO, which emulates vehicle movement on various roads, we verified the effective operation of the proposed scheme and confirmed its superiority over the existing beam sweeping approach.},
note = {ComEX Top Downloaded Letter Award},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This article proposes a millimeter-wave fast beam tracking algorithm for moving vehicles, considering a geometry of road environment. Focusing on the fact that vehicle movement is constrained on roads, horizontal and vertical beam directions are determined based on obtainable driving direction and road shape. In addition, we perform a two-pattern beam selection for the vehicle’s forward and rearward directions to esti- mate the beam tracking speed. By conducting simulations using SUMO, which emulates vehicle movement on various roads, we verified the effective operation of the proposed scheme and confirmed its superiority over the existing beam sweeping approach.
Yuki Sasaki, Sojin Ozawa, Kabuto Arai, Jin Nakazato, Manabu Tsukada, Kazuki Maruta , "Location-Based Broad-Range Null-Steering in V2X Multiuser MIMO Transmission", 2024 IEEE 21st Consumer Communications & Networking Conference (CCNC), Poster, 2024.Miscellaneous | Abstract | BibTeX | Links:
@misc{Sasaki2024,
title = {Location-Based Broad-Range Null-Steering in V2X Multiuser MIMO Transmission},
author = {Yuki Sasaki and Sojin Ozawa and Kabuto Arai and Jin Nakazato and Manabu Tsukada and Kazuki Maruta },
url = {https://tlab.hongo.wide.ad.jp/papers/2023_CCNC2023_poster_Sasaki.pdf},
year = {2024},
date = {2024-01-06},
urldate = {2024-01-06},
address = {Las Vegas, NV, USA},
abstract = {This paper proposes an intensive null-steering around the target in angular domain to effectively suppress inter-user interference (IUI) leakage caused by channel varying environment such as vehicular multiuser spatial multiplexing. Multiuser MIMO can enhance spectral efficiency by multiplexing a number of user terminals in spatial domain. Suppose applying multiuser MIMO downlink in vehicle-to-everything (V2X) scenario, vehicles move at high speed which causes IUI. Null-space expansion has been conceived that can improve IUI suppression capability by steering nulls to the past and the present channel states on interfered users. Collective perception in intelligent transport systems (ITS) provides location information of vehicles every 100 ms. Exploiting this feature, this paper proposes angular-domain null-space expansion; broad-range null-steering (BRNS). Computer simulation verifies its effectiveness.},
howpublished = {2024 IEEE 21st Consumer Communications & Networking Conference (CCNC), Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
This paper proposes an intensive null-steering around the target in angular domain to effectively suppress inter-user interference (IUI) leakage caused by channel varying environment such as vehicular multiuser spatial multiplexing. Multiuser MIMO can enhance spectral efficiency by multiplexing a number of user terminals in spatial domain. Suppose applying multiuser MIMO downlink in vehicle-to-everything (V2X) scenario, vehicles move at high speed which causes IUI. Null-space expansion has been conceived that can improve IUI suppression capability by steering nulls to the past and the present channel states on interfered users. Collective perception in intelligent transport systems (ITS) provides location information of vehicles every 100 ms. Exploiting this feature, this paper proposes angular-domain null-space expansion; broad-range null-steering (BRNS). Computer simulation verifies its effectiveness.
Ryo Iwaki, Jin Nakazato, Muhammad Asad, Ehsan Javanmardi, Kazuki Maruta, Manabu Tsukada, Hideya Ochiai, Hiroshi Esaki, "Optimizing mmWave Beamforming for High-Speed Connected Autonomous Vehicles: An Adaptive Approach", 2024 IEEE 21st Consumer Communications & Networking Conference (CCNC), Poster, 2024.Miscellaneous | Abstract | BibTeX | Links:
@misc{Iwaki2024,
title = {Optimizing mmWave Beamforming for High-Speed Connected Autonomous Vehicles: An Adaptive Approach},
author = {Ryo Iwaki and Jin Nakazato and Muhammad Asad and Ehsan Javanmardi and Kazuki Maruta and Manabu Tsukada and Hideya Ochiai and Hiroshi Esaki},
url = {https://tlab.hongo.wide.ad.jp/papers/2023_CCNC2023_poster_Iwaki.pdf},
year = {2024},
date = {2024-01-06},
urldate = {2024-01-06},
abstract = {The commercialization of 5G has been initiated for a while. Furthermore, millimeter wave (mmWave) has been introduced to small cells with small coverage due to its strong linearity and non-winding characteristics. On the other hand, in connected autonomous vehicles (CAVs), where various traffic systems can cooperatively perform recognition, decision-making, and execution, communication is assumed to be always connected. Therefore, to use low latency mmWave for high-speed moving CAV, beamforming in 5G cannot follow them at high speed. This paper proposes an improved beam tracking algorithm for high-speed CAVs, which can be evaluated in a more general environment using a traffic simulator. We proposed an adaptive algorithm for a general road environment by increasing the number of beam searches and search dimensions.},
howpublished = {2024 IEEE 21st Consumer Communications & Networking Conference (CCNC), Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
The commercialization of 5G has been initiated for a while. Furthermore, millimeter wave (mmWave) has been introduced to small cells with small coverage due to its strong linearity and non-winding characteristics. On the other hand, in connected autonomous vehicles (CAVs), where various traffic systems can cooperatively perform recognition, decision-making, and execution, communication is assumed to be always connected. Therefore, to use low latency mmWave for high-speed moving CAV, beamforming in 5G cannot follow them at high speed. This paper proposes an improved beam tracking algorithm for high-speed CAVs, which can be evaluated in a more general environment using a traffic simulator. We proposed an adaptive algorithm for a general road environment by increasing the number of beam searches and search dimensions.
2023
Ye Tao, Ehsan Javanmardi, Pengfei Lin, Yuze Jiang, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Zero-Knowledge Proof of Traffic: A Deterministic and Privacy-Preserving Cross Verification Mechanism for Cooperative Perception Data", In: IEEE Access, vol. 11, pp. 142846-142861, 2023, ISSN: 2169-3536.Journal Article | Abstract | BibTeX | Links:
@article{Tao2023b,
title = {Zero-Knowledge Proof of Traffic: A Deterministic and Privacy-Preserving Cross Verification Mechanism for Cooperative Perception Data},
author = {Ye Tao and Ehsan Javanmardi and Pengfei Lin and Yuze Jiang and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://arxiv.org/abs/2312.07948},
doi = {10.1109/ACCESS.2023.3343405},
issn = {2169-3536},
year = {2023},
date = {2023-12-17},
urldate = {2023-12-17},
journal = {IEEE Access},
volume = {11},
pages = {142846-142861},
abstract = {Cooperative perception is crucial for connected automated vehicles in intelligent transportation systems (ITSs); however, ensuring the authenticity of perception data remains a challenge as the vehicles cannot verify events that they do not witness independently. Various studies have been conducted on establishing the authenticity of data, such as trust-based statistical methods and plausibility-based methods. However, these methods are limited as they require prior knowledge such as previous sender behaviors or predefined rules to evaluate the authenticity. To overcome this limitation, this study proposes a novel approach called zero-knowledge Proof of Traffic (zk-PoT), which involves generating cryptographic proofs to the traffic observations. Multiple independent proofs regarding the same vehicle can be deterministically cross-verified by any receivers without relying on ground truth, probabilistic, or plausibility evaluations. Additionally, no private information is compromised during the entire procedure. A full on-board unit software stack that reflects the behavior of zk-PoT is implemented within a specifically designed simulator called Flowsim. A comprehensive experimental analysis is then conducted using synthesized city-scale simulations, which demonstrates that zk-PoT’s cross-verification ratio ranges between 80 % to 96 %, and 90 % of the verification is achieved in 5 s, with a protocol overhead of approximately 25 %. Furthermore, the analyses of various attacks indicate that most of the attacks could be prevented, and some, such as collusion attacks, can be mitigated. The proposed approach can be incorporated into existing works, including the European Telecommunications Standards Institute (ETSI) and the International Organization for Standardization (ISO) ITS standards, without disrupting the backward compatibility.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Cooperative perception is crucial for connected automated vehicles in intelligent transportation systems (ITSs); however, ensuring the authenticity of perception data remains a challenge as the vehicles cannot verify events that they do not witness independently. Various studies have been conducted on establishing the authenticity of data, such as trust-based statistical methods and plausibility-based methods. However, these methods are limited as they require prior knowledge such as previous sender behaviors or predefined rules to evaluate the authenticity. To overcome this limitation, this study proposes a novel approach called zero-knowledge Proof of Traffic (zk-PoT), which involves generating cryptographic proofs to the traffic observations. Multiple independent proofs regarding the same vehicle can be deterministically cross-verified by any receivers without relying on ground truth, probabilistic, or plausibility evaluations. Additionally, no private information is compromised during the entire procedure. A full on-board unit software stack that reflects the behavior of zk-PoT is implemented within a specifically designed simulator called Flowsim. A comprehensive experimental analysis is then conducted using synthesized city-scale simulations, which demonstrates that zk-PoT’s cross-verification ratio ranges between 80 % to 96 %, and 90 % of the verification is achieved in 5 s, with a protocol overhead of approximately 25 %. Furthermore, the analyses of various attacks indicate that most of the attacks could be prevented, and some, such as collusion attacks, can be mitigated. The proposed approach can be incorporated into existing works, including the European Telecommunications Standards Institute (ETSI) and the International Organization for Standardization (ISO) ITS standards, without disrupting the backward compatibility.
Yuze Jiang, Ehsan Javanmard, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Roadside LiDAR Assisted Cooperative Localization for Connected Autonomous Vehicles", In: ACM Intelligent Computing and its Emerging Applications (ICEA 2023), 2023, (Best paper award (Silver)).Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Jiang2023,
title = {Roadside LiDAR Assisted Cooperative Localization for Connected Autonomous Vehicles},
author = {Yuze Jiang and Ehsan Javanmard and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://arxiv.org/abs/2311.07913},
year = {2023},
date = {2023-12-14},
urldate = {2023-12-14},
booktitle = {ACM Intelligent Computing and its Emerging Applications (ICEA 2023)},
abstract = {Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through techniques like Normal Distributions Transform (NDT) and other advanced 3D registration algorithms. Nonetheless, these approaches are reliant on high-definition 3D point cloud maps, the creation of which involves significant expenditure. When such maps are unavailable or lack sufficient features for 3D registration algorithms, localization accuracy diminishes, posing a risk to road safety. To address this, we proposed to use LiDAR-equipped roadside unit and Vehicle-to-Infrastructure (V2I) communication to accurately estimate the connected vehicle's position and help the vehicle when its self-localization is not accurate enough. Our simulation results indicate that this method outperforms traditional NDT scan matching-based approaches in terms of localization accuracy.},
note = {Best paper award (Silver)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Advancements in LiDAR technology have led to more cost-effective production while simultaneously improving precision and resolution. As a result, LiDAR has become integral to vehicle localization, achieving centimeter-level accuracy through techniques like Normal Distributions Transform (NDT) and other advanced 3D registration algorithms. Nonetheless, these approaches are reliant on high-definition 3D point cloud maps, the creation of which involves significant expenditure. When such maps are unavailable or lack sufficient features for 3D registration algorithms, localization accuracy diminishes, posing a risk to road safety. To address this, we proposed to use LiDAR-equipped roadside unit and Vehicle-to-Infrastructure (V2I) communication to accurately estimate the connected vehicle's position and help the vehicle when its self-localization is not accurate enough. Our simulation results indicate that this method outperforms traditional NDT scan matching-based approaches in terms of localization accuracy.
Kazuto Matsumoto, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, "Localizability Estimation for Autonomous Driving: A Deep Learning-Based Place Recognition Approach", In: IEEE Robotic Computing 2023, California, USA, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Matsumoto2023b,
title = {Localizability Estimation for Autonomous Driving: A Deep Learning-Based Place Recognition Approach},
author = {Kazuto Matsumoto and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada},
doi = {10.1109/IRC59093.2023.00052},
year = {2023},
date = {2023-12-11},
urldate = {2023-12-11},
booktitle = {IEEE Robotic Computing 2023},
address = {California, USA},
abstract = {In recent years, research and development aimed at the societal implementation of autonomous driving have attracted increasing attention. Localization, which involves obtaining in- formation about the surrounding environment from sensor data and estimating the vehicle’s position, is necessary for realizing autonomous driving. Localization is commonly performed with 3D LiDAR as a sensor owing to its high measurement accuracy and immunity to ambient light conditions, which allow for precise localization. However, localization accuracy may decrease when the surrounding area does not have distinctive features. In this study, we proposed a method based on deep learning to estimate localization accuracy for autonomous driving. The overall localization accuracy can be improved by estimating the accuracy of localization using other sensors, such as GNSS and IMU, or pavement markings in areas with poor accuracy. We created a dataset for estimating localization accuracy using an open-source autonomous driving simulator. In an experiment, we applied the proposed method to the created dataset. Estimations with low MSE were obtained. The results indicate that the proposed method can accurately estimate localization accuracy.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In recent years, research and development aimed at the societal implementation of autonomous driving have attracted increasing attention. Localization, which involves obtaining in- formation about the surrounding environment from sensor data and estimating the vehicle’s position, is necessary for realizing autonomous driving. Localization is commonly performed with 3D LiDAR as a sensor owing to its high measurement accuracy and immunity to ambient light conditions, which allow for precise localization. However, localization accuracy may decrease when the surrounding area does not have distinctive features. In this study, we proposed a method based on deep learning to estimate localization accuracy for autonomous driving. The overall localization accuracy can be improved by estimating the accuracy of localization using other sensors, such as GNSS and IMU, or pavement markings in areas with poor accuracy. We created a dataset for estimating localization accuracy using an open-source autonomous driving simulator. In an experiment, we applied the proposed method to the created dataset. Estimations with low MSE were obtained. The results indicate that the proposed method can accurately estimate localization accuracy.
Satoru Furuta, Jin Nakazato, Manabu Tsukada, "Web-Based BIM Platform for Building Digital Twin", In: 3rd Annual IEEE International Conference on Digital Twins and Parallel Intelligence (DTPI 2023), Florida, USA, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Furuta2023,
title = {Web-Based BIM Platform for Building Digital Twin},
author = {Satoru Furuta and Jin Nakazato and Manabu Tsukada},
doi = {10.1109/DTPI59677.2023.10365476},
year = {2023},
date = {2023-11-07},
urldate = {2023-11-07},
booktitle = {3rd Annual IEEE International Conference on Digital Twins and Parallel Intelligence (DTPI 2023)},
address = {Florida, USA},
abstract = {Building digital twin (BDT) is utilized throughout the lifecycle of a building. It serves for efficient operations during the design and construction phases, and during the operational and maintenance phases, it’s used for asset management and as field maps for robots. Building Information Modeling (BIM), which contains both semantics and geometry data of building elements, holds promise as a data source for BDT. We have extracted four key technical challenges of the digital twin, particularly vital during the operational and maintenance phases: software, visualization, update, and real-scene reconstruction. Due to the exclusive and static nature of BIM, these challenges also pose significant issues in the context of BDT. To address these challenges, we designed and implemented a Web-based BIM platform. The implemented application shows not only geometry data but also semantics data, enables easy overlay with the latest indoor conditions, and provides updating functionality. The developed system is essential for the continuous operation of BDT in dynamic indoor environments. We evaluated the application through a questionnaire survey. },
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Building digital twin (BDT) is utilized throughout the lifecycle of a building. It serves for efficient operations during the design and construction phases, and during the operational and maintenance phases, it’s used for asset management and as field maps for robots. Building Information Modeling (BIM), which contains both semantics and geometry data of building elements, holds promise as a data source for BDT. We have extracted four key technical challenges of the digital twin, particularly vital during the operational and maintenance phases: software, visualization, update, and real-scene reconstruction. Due to the exclusive and static nature of BIM, these challenges also pose significant issues in the context of BDT. To address these challenges, we designed and implemented a Web-based BIM platform. The implemented application shows not only geometry data but also semantics data, enables easy overlay with the latest indoor conditions, and provides updating functionality. The developed system is essential for the continuous operation of BDT in dynamic indoor environments. We evaluated the application through a questionnaire survey.
Naren Bao, Jin Nakazato, Muhammad Asad, Ehsan Javanmardi, Manabu Tsukada, "Towards a Trusted Inter-Reality: Exploring System Architectures for Digital Identification", The 1st International Workshop on Internet of Realities (IoR-WS 2023) at International Conference on the Internet of Things, Nagoya, Japan, 2023.Workshop | Abstract | BibTeX | Links:
@workshop{Bao2023b,
title = {Towards a Trusted Inter-Reality: Exploring System Architectures for Digital Identification},
author = {Naren Bao and Jin Nakazato and Muhammad Asad and Ehsan Javanmardi and Manabu Tsukada},
doi = {10.1145/3627050.3631566},
year = {2023},
date = {2023-11-07},
urldate = {2023-11-07},
booktitle = {The 1st International Workshop on Internet of Realities (IoR-WS 2023) at International Conference on the Internet of Things},
address = {Nagoya, Japan},
abstract = {The concept of a trusted inter-reality, where physical and virtual worlds seamlessly converge, represents a paradigm shift in how digital identities are formed and managed. This paper explores the complex landscape of system architectures designed to enable secure and user-centric digital identification within interconnected realities. Our survey focuses on user-centric security, recognizing the prevalence of wearable devices and immersive technologies in inter-reality environments. We advocate for user-friendly authentication methods and privacy-preserving techniques that prioritize user control within the trust model. Furthermore, we delve into the influence of social and cultural factors, particularly age and gender, on the shaping of digital identity within interconnected realities. We argue in favor of adaptable system architectures that respect generational and gender diversity. In conclusion, we emphasize the alignment of system architectures with these principles to promote a secure, user-centric, and culturally sensitive digital identity experience. This research contributes to the ongoing discourse on digital identification in interconnected realities, providing actionable guidance for stakeholders in the evolving landscape of trusted inter-reality.
},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
The concept of a trusted inter-reality, where physical and virtual worlds seamlessly converge, represents a paradigm shift in how digital identities are formed and managed. This paper explores the complex landscape of system architectures designed to enable secure and user-centric digital identification within interconnected realities. Our survey focuses on user-centric security, recognizing the prevalence of wearable devices and immersive technologies in inter-reality environments. We advocate for user-friendly authentication methods and privacy-preserving techniques that prioritize user control within the trust model. Furthermore, we delve into the influence of social and cultural factors, particularly age and gender, on the shaping of digital identity within interconnected realities. We argue in favor of adaptable system architectures that respect generational and gender diversity. In conclusion, we emphasize the alignment of system architectures with these principles to promote a secure, user-centric, and culturally sensitive digital identity experience. This research contributes to the ongoing discourse on digital identification in interconnected realities, providing actionable guidance for stakeholders in the evolving landscape of trusted inter-reality.
Yusuke Sugizaki, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Umpire Assistance System in Baseball Game", The 1st International Workshop on Internet of Realities (IoR-WS 2023) at International Conference on the Internet of Things, Nagoya, Japan, 2023.Workshop | Abstract | BibTeX | Links:
@workshop{Sugizaki2023b,
title = {Umpire Assistance System in Baseball Game},
author = {Yusuke Sugizaki and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
doi = {10.1145/3627050.3631569},
year = {2023},
date = {2023-11-07},
urldate = {2023-11-07},
booktitle = {The 1st International Workshop on Internet of Realities (IoR-WS 2023) at International Conference on the Internet of Things},
address = {Nagoya, Japan},
abstract = {In recent years, information technology has become an important element in the pursuit of a more prosperous society, and this extends to the realm of sports. Events across various domains are undergo- ing digitalization. Within the context of baseball, the introduction of automated technology for umpiring is garnering significant at- tention. Conversely, the frequent misjudgments by human referees have become a contentious issue. Both Major League Baseball (MLB) and Nippon Professional Baseball (NPB) have introduced a chal- lenge system that requires replay verification in instances where there’s disagreement with an umpire’s decision. However, this sys- tem is not permissible in venues lacking the necessary facilities. A consequential shortage of umpires intensifies their workload, potentially leading to more misjudgments. This paper proposes an architecture for an umpire assistance system designed to ad- dress these challenges in baseball games. Our proposed system architecture facilitates the filming of a baseball game from multiple angles, rendering the challenge system independent of the venue’s infrastructure. Moreover, the system autonomously makes judg- ments using footage from multiple cameras, thereby supporting both human umpires and automated officiating. Looking ahead, we also discuss the potential advancements when integrating this with digital twins and explore its applicability to other sports.},
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
In recent years, information technology has become an important element in the pursuit of a more prosperous society, and this extends to the realm of sports. Events across various domains are undergo- ing digitalization. Within the context of baseball, the introduction of automated technology for umpiring is garnering significant at- tention. Conversely, the frequent misjudgments by human referees have become a contentious issue. Both Major League Baseball (MLB) and Nippon Professional Baseball (NPB) have introduced a chal- lenge system that requires replay verification in instances where there’s disagreement with an umpire’s decision. However, this sys- tem is not permissible in venues lacking the necessary facilities. A consequential shortage of umpires intensifies their workload, potentially leading to more misjudgments. This paper proposes an architecture for an umpire assistance system designed to ad- dress these challenges in baseball games. Our proposed system architecture facilitates the filming of a baseball game from multiple angles, rendering the challenge system independent of the venue’s infrastructure. Moreover, the system autonomously makes judg- ments using footage from multiple cameras, thereby supporting both human umpires and automated officiating. Looking ahead, we also discuss the potential advancements when integrating this with digital twins and explore its applicability to other sports.
Yiwei Cheng, Jin Nakazato, Ehsan Javanmardi, Chia-Ming Chang, Manabu Tsukada, "Pedestrian-centric Augmented Reality Visualization of Real-time Autonomous Vehicle Dynamics", The Workshop on Intelligent Cloud Continuum for B5G Services in the IEEE International Conference on Cloud Networking (CloudNet) 2023, New York City, USA, 2023.Workshop | Abstract | BibTeX | Links:
@workshop{Cheng2023,
title = {Pedestrian-centric Augmented Reality Visualization of Real-time Autonomous Vehicle Dynamics},
author = {Yiwei Cheng and Jin Nakazato and Ehsan Javanmardi and Chia-Ming Chang and Manabu Tsukada},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/374387897_Pedestrian-centric_Augmented_Reality_Visualization_of_Real-time_Autonomous_Vehicle_Dynamics/links/651bda961e2386049df3c4ee/Pedestrian-centric-Augmented-Reality-Visualization-of-Real-time-Autonomous-Vehicle-Dynamics.pdf},
doi = {10.1109/CloudNet59005.2023.10490048},
year = {2023},
date = {2023-11-04},
urldate = {2023-11-04},
booktitle = {The Workshop on Intelligent Cloud Continuum for B5G Services in the IEEE International Conference on Cloud Networking (CloudNet) 2023},
address = {New York City, USA},
abstract = {Connected Autonomous Vehicles (CAVs) produce a variety of information within their systems. With the advancement of communication and V2X (Vehicle-to-Everything) communication technology, there is a growing challenge to effectively convey this information to pedestrians and enhance their sense of safety when encountering such vehicles. Efforts to communicate this information to pedestrians have been made through various means, with Augmented Reality (AR) emerging as a notable approach. However, previous studies have yet to integrate a functional AR application with a real-world autonomous driving system. In response to this gap, we proposed an architecture for an AR application that visualizes real-time data from an active CAV and subsequently developed the system. Furthermore, we conducted field experiments using this developed system and conducted user surveys during exhibitions to gather insights into the public’s perception of the system. Our results showed that the system can effectively transmit information from the CAV, and when provided with additional information, people tend to feel safer regarding the vehicle. },
keywords = {},
pubstate = {published},
tppubtype = {workshop}
}
Connected Autonomous Vehicles (CAVs) produce a variety of information within their systems. With the advancement of communication and V2X (Vehicle-to-Everything) communication technology, there is a growing challenge to effectively convey this information to pedestrians and enhance their sense of safety when encountering such vehicles. Efforts to communicate this information to pedestrians have been made through various means, with Augmented Reality (AR) emerging as a notable approach. However, previous studies have yet to integrate a functional AR application with a real-world autonomous driving system. In response to this gap, we proposed an architecture for an AR application that visualizes real-time data from an active CAV and subsequently developed the system. Furthermore, we conducted field experiments using this developed system and conducted user surveys during exhibitions to gather insights into the public’s perception of the system. Our results showed that the system can effectively transmit information from the CAV, and when provided with additional information, people tend to feel safer regarding the vehicle.
Jin Nakazato, Kousuke Nakagawa, Koki Itoh, Romain Fontugne, Manabu Tsukada, Hiroshi Esaki, "WebRTC over 5G: A Study of Remote Collaboration QoS in Mobile Environment", In: Journal of Network and Systems Management, vol. 32, iss. 1, 2023, ISSN: 1573-7705.Journal Article | Abstract | BibTeX | Links:
@article{Nakazato2023,
title = {WebRTC over 5G: A Study of Remote Collaboration QoS in Mobile Environment},
author = {Jin Nakazato and Kousuke Nakagawa and Koki Itoh and Romain Fontugne and Manabu Tsukada and Hiroshi Esaki},
url = {https://link.springer.com/content/pdf/10.1007/s10922-023-09778-5.pdf},
doi = {10.1007/s10922-023-09778-5},
issn = {1573-7705},
year = {2023},
date = {2023-10-24},
urldate = {2023-10-24},
journal = {Journal of Network and Systems Management},
volume = {32},
issue = {1},
abstract = {The increasing demand for remote collaboration and remote working has become crucial to daily life owing to the Covid-19 pandemic and the development of internet-based video distribution services. Furthermore, low-latency remote collaboration, such as teleoperation and support applications designed for in-vehicle environments, has gained considerable attention. The 5G technology is considered as a key infrastructure for remote collaboration. This study aimed to evaluate the actual 5G capability to achieve high quality of service (QoS) for remote collaboration. We designed and implemented a measurement tool to monitor the QoS of remote collaboration under real-world 5G conditions. We performed measurements encompassing the various 5G frequency bands. During these experiments, we employed various tools to obtain detailed mobile signal conditions to analyze the relationship between various environmental factors (e.g. signal quality, band, handoff, geographic conditions, and mobility) and the QoS performance of remote collaboration in a real-world 5G environment. This study elucidated the correlation between the WebRTC performance and various environmental factors as well as the performance improvement potential by leveraging the communication technologies of multiple mobile carriers. The collected data has been made publicly available to foster research on QoS and 5G.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The increasing demand for remote collaboration and remote working has become crucial to daily life owing to the Covid-19 pandemic and the development of internet-based video distribution services. Furthermore, low-latency remote collaboration, such as teleoperation and support applications designed for in-vehicle environments, has gained considerable attention. The 5G technology is considered as a key infrastructure for remote collaboration. This study aimed to evaluate the actual 5G capability to achieve high quality of service (QoS) for remote collaboration. We designed and implemented a measurement tool to monitor the QoS of remote collaboration under real-world 5G conditions. We performed measurements encompassing the various 5G frequency bands. During these experiments, we employed various tools to obtain detailed mobile signal conditions to analyze the relationship between various environmental factors (e.g. signal quality, band, handoff, geographic conditions, and mobility) and the QoS performance of remote collaboration in a real-world 5G environment. This study elucidated the correlation between the WebRTC performance and various environmental factors as well as the performance improvement potential by leveraging the communication technologies of multiple mobile carriers. The collected data has been made publicly available to foster research on QoS and 5G.
Pengfei Lin, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, "Potential Field-based Path Planning with Interactive Speed Optimization for Autonomous Vehicles", In: 49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023), 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Lin2023c,
title = {Potential Field-based Path Planning with Interactive Speed Optimization for Autonomous Vehicles},
author = {Pengfei Lin and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada},
url = {https://arxiv.org/abs/2306.06987},
doi = {10.1109/IECON51785.2023.10311890},
year = {2023},
date = {2023-10-16},
urldate = {2023-10-16},
booktitle = {49th Annual Conference of the IEEE Industrial Electronics Society (IECON 2023)},
abstract = {Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and computational efficiency. However, current PF methods used in AVs focus solely on the path generation of the ego vehicle while assuming that the surrounding obstacle vehicles drive at a preset behavior without the PF-based path planner, which ignores the fact that the ego vehicle’s PF could also impact the path generation of the obstacle vehicles. To tackle this problem, we propose a PF-based path planning approach where local paths are shared among ego and obstacle vehicles via vehicle-to- vehicle (V2V) communication. Then by integrating this shared local path into an objective function, a new optimization function called interactive speed optimization (ISO) is designed to allow driving safety and comfort for both ego and obstacle vehicles. The proposed method is evaluated using MATLAB/Simulink in the urgent merging scenarios by comparing it with conventional methods. The simulation results indicate that the proposed method can mitigate the impact of other AVs’ PFs by slowing down in advance, effectively reducing the oscillations for both ego and obstacle AVs.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and computational efficiency. However, current PF methods used in AVs focus solely on the path generation of the ego vehicle while assuming that the surrounding obstacle vehicles drive at a preset behavior without the PF-based path planner, which ignores the fact that the ego vehicle’s PF could also impact the path generation of the obstacle vehicles. To tackle this problem, we propose a PF-based path planning approach where local paths are shared among ego and obstacle vehicles via vehicle-to- vehicle (V2V) communication. Then by integrating this shared local path into an objective function, a new optimization function called interactive speed optimization (ISO) is designed to allow driving safety and comfort for both ego and obstacle vehicles. The proposed method is evaluated using MATLAB/Simulink in the urgent merging scenarios by comparing it with conventional methods. The simulation results indicate that the proposed method can mitigate the impact of other AVs’ PFs by slowing down in advance, effectively reducing the oscillations for both ego and obstacle AVs.
Vishal Chauhan, Chia-Ming Chang, Ehsan Javanmardi, Jin Nakazato, Koki Toda, Pengfei Lin, Takeo Igarashi, Manabu Tsukada, "Keep Calm and Cross: Smart Pole Interaction Unit for Easing Pedestrian Cognitive Load", In: The 9th IEEE World Forum on Internet of Things (IEEE WFIoT2023), Aveiro, Portugal, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Chauhan2023,
title = {Keep Calm and Cross: Smart Pole Interaction Unit for Easing Pedestrian Cognitive Load},
author = {Vishal Chauhan and Chia-Ming Chang and Ehsan Javanmardi and Jin Nakazato and Koki Toda and Pengfei Lin and Takeo Igarashi and Manabu Tsukada},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/374582122_Keep_Calm_and_Cross_Smart_Pole_Interaction_Unit_for_Easing_Pedestrian_Cognitive_Load/links/6525681eb32c91681fb2e1b5/Keep-Calm-and-Cross-Smart-Pole-Interaction-Unit-for-Easing-Pedestrian-Cognitive-Load.pdf},
doi = {10.1109/WF-IoT58464.2023.10539511},
year = {2023},
date = {2023-10-12},
urldate = {2023-10-12},
booktitle = {The 9th IEEE World Forum on Internet of Things (IEEE WFIoT2023)},
address = {Aveiro, Portugal},
abstract = {Recently, there has been a growing emphasis on autonomous vehicles (AVs), and as they coexist with pedestrians, ensuring pedestrian safety at crosswalks has become paramount. While AVs exhibit commendable performance on traditional roads with established traffic infrastructure, their interaction in different environments, such as shared spaces lacking traffic lights or sign rules (also known as naked streets), can present significant challenges, including right-of-way and accessibility concerns. To address these challenges, this study proposes a novel approach to enhance pedestrian safety in shared spaces, focusing on the proposed smart pole interaction unit (SPIU) combined with an external human-machine interface (eHMI). By evaluating the proposal of SPIU developed by a virtual reality system, we explore its usability and effectiveness in facilitating vehicle-to-pedestrian (V2P) interactions at crosswalks. Our findings from this study showed that SPIU facilitates safe, quicker decision-making to stop and pass at crosswalks in shared space and reduces cognitive load compared to scenarios where an SPIU is absent for pedestrians and reduce the need for eHMI to see on multiple AVs. The SPIU addition with the eHMI in vehicles yields a noteworthy 21 % improvement in response time, enhancing efficiency during pedestrian stops. In both scenarios, whether with a single AV (1-way) or multiple AVs (2-way), SPIU has a positive impact on interaction dynamics and statistically demonstrates a significant improvement (p = 0.001). },
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Recently, there has been a growing emphasis on autonomous vehicles (AVs), and as they coexist with pedestrians, ensuring pedestrian safety at crosswalks has become paramount. While AVs exhibit commendable performance on traditional roads with established traffic infrastructure, their interaction in different environments, such as shared spaces lacking traffic lights or sign rules (also known as naked streets), can present significant challenges, including right-of-way and accessibility concerns. To address these challenges, this study proposes a novel approach to enhance pedestrian safety in shared spaces, focusing on the proposed smart pole interaction unit (SPIU) combined with an external human-machine interface (eHMI). By evaluating the proposal of SPIU developed by a virtual reality system, we explore its usability and effectiveness in facilitating vehicle-to-pedestrian (V2P) interactions at crosswalks. Our findings from this study showed that SPIU facilitates safe, quicker decision-making to stop and pass at crosswalks in shared space and reduces cognitive load compared to scenarios where an SPIU is absent for pedestrians and reduce the need for eHMI to see on multiple AVs. The SPIU addition with the eHMI in vehicles yields a noteworthy 21 % improvement in response time, enhancing efficiency during pedestrian stops. In both scenarios, whether with a single AV (1-way) or multiple AVs (2-way), SPIU has a positive impact on interaction dynamics and statistically demonstrates a significant improvement (p = 0.001).
Vishal Chauhan, Chia-Ming Chang, Ehsan Javanmardi, Jin Nakazato, Pengfei Lin, Takeo Igarashi, Manabu Tsukada, "Fostering Fuzzy Logic in Enhancing Pedestrian Safety: Harnessing Smart Pole Interaction Unit for Autonomous Vehicle-to-Pedestrian Communication and Decision Optimization", In: Electronics, vol. 12, no. 20, 2023, ISSN: 2079-9292.Journal Article | Abstract | BibTeX | Links:
@article{Chauhan2023c,
title = {Fostering Fuzzy Logic in Enhancing Pedestrian Safety: Harnessing Smart Pole Interaction Unit for Autonomous Vehicle-to-Pedestrian Communication and Decision Optimization},
author = {Vishal Chauhan and Chia-Ming Chang and Ehsan Javanmardi and Jin Nakazato and Pengfei Lin and Takeo Igarashi and Manabu Tsukada},
url = {https://www.mdpi.com/2079-9292/12/20/4207},
doi = {10.3390/electronics12204207},
issn = {2079-9292},
year = {2023},
date = {2023-10-11},
urldate = {2023-10-11},
journal = {Electronics},
volume = {12},
number = {20},
abstract = {In autonomous vehicles (AVs), ensuring pedestrian safety within intricate and dynamic settings, particularly at crosswalks, has gained substantial attention. While AVs perform admirably in standard road conditions, their integration into unique environments like shared spaces devoid of traditional traffic infrastructure control presents complex challenges. These challenges involve issues of right-of-way negotiation and accessibility, particularly in “naked streets”. This research delves into an innovative smart pole interaction unit (SPIU) with an external human–machine interface (eHMI). Utilizing virtual reality (VR) technology to evaluate the SPIU efficacy, this study investigates its capacity to enhance interactions between vehicles and pedestrians at crosswalks. The SPIU is designed to communicate the vehicles’ real-time intentions well before arriving at the crosswalk. The study findings demonstrate that the SPIU significantly improves secure decision making for pedestrian passing and stops in shared spaces. Integrating an SPIU with an eHMI in vehicles leads to a substantial 21% reduction in response time, greatly enhancing the efficiency of pedestrian stops. Notable enhancements are observed in unidirectional (one-way) and bidirectional (two-way) scenarios, highlighting the positive impact of the SPIU on interaction dynamics. This work contributes to AV–pedestrian interaction and underscores the potential of fuzzy-logic-driven solutions in addressing complex and ambiguous pedestrian behaviors.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In autonomous vehicles (AVs), ensuring pedestrian safety within intricate and dynamic settings, particularly at crosswalks, has gained substantial attention. While AVs perform admirably in standard road conditions, their integration into unique environments like shared spaces devoid of traditional traffic infrastructure control presents complex challenges. These challenges involve issues of right-of-way negotiation and accessibility, particularly in “naked streets”. This research delves into an innovative smart pole interaction unit (SPIU) with an external human–machine interface (eHMI). Utilizing virtual reality (VR) technology to evaluate the SPIU efficacy, this study investigates its capacity to enhance interactions between vehicles and pedestrians at crosswalks. The SPIU is designed to communicate the vehicles’ real-time intentions well before arriving at the crosswalk. The study findings demonstrate that the SPIU significantly improves secure decision making for pedestrian passing and stops in shared spaces. Integrating an SPIU with an eHMI in vehicles leads to a substantial 21% reduction in response time, greatly enhancing the efficiency of pedestrian stops. Notable enhancements are observed in unidirectional (one-way) and bidirectional (two-way) scenarios, highlighting the positive impact of the SPIU on interaction dynamics. This work contributes to AV–pedestrian interaction and underscores the potential of fuzzy-logic-driven solutions in addressing complex and ambiguous pedestrian behaviors.
Hu Dou, Jin Nakazato, Ehsan Javanmardi, Muhammad Asad, Manabu Tsukada, Kazuki Maruta
, "Extended Kalman filter based beam tracking for vehicle position and velocity estimation under intersection scenario", 革新的無線通信技術に関する横断型研究会（MIKA）, 沖縄県, 2023.Conference | Abstract | BibTeX
@conference{Dou2023,
title = {Extended Kalman filter based beam tracking for vehicle position and velocity estimation under intersection scenario},
author = {Hu Dou and Jin Nakazato and Ehsan Javanmardi and Muhammad Asad and Manabu Tsukada and Kazuki Maruta
},
year = {2023},
date = {2023-10-10},
urldate = {2023-10-10},
booktitle = {革新的無線通信技術に関する横断型研究会（MIKA）},
address = {沖縄県},
abstract = {As typified by the IoT, mobile traffic continues to increase with the spread of devices equipped with wireless communication functions. Deploying small cell base stations (BSs) is known to straight forward way to efficiently support such traffic. Meanwhile, the facility cost increases when large numbers of BSs are deployed in a fixed manner. It is possible to construct an efficient wireless network by installing BS functions in moving objects such as vehicles and UAVs, and allowing them to move autonomously or activate wireless functions to follow the traffic demand. This paper proposes a method for estimating propagation channels and vehicle position/velocity information at intersections based on vehicle-oriented beam control using a Kalman filter.},
keywords = {},
pubstate = {published},
tppubtype = {conference}
}
As typified by the IoT, mobile traffic continues to increase with the spread of devices equipped with wireless communication functions. Deploying small cell base stations (BSs) is known to straight forward way to efficiently support such traffic. Meanwhile, the facility cost increases when large numbers of BSs are deployed in a fixed manner. It is possible to construct an efficient wireless network by installing BS functions in moving objects such as vehicles and UAVs, and allowing them to move autonomously or activate wireless functions to follow the traffic demand. This paper proposes a method for estimating propagation channels and vehicle position/velocity information at intersections based on vehicle-oriented beam control using a Kalman filter.
Pengfei Lin, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, "Occlusion-Aware Path Planning for Collision Avoidance: Leveraging Potential Field Method with Responsibility-Sensitive Safety", In: The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Lin2023b,
title = {Occlusion-Aware Path Planning for Collision Avoidance: Leveraging Potential Field Method with Responsibility-Sensitive Safety},
author = {Pengfei Lin and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada},
url = {https://arxiv.org/abs/2306.06981},
doi = {10.1109/ITSC57777.2023.10422621},
year = {2023},
date = {2023-09-24},
urldate = {2023-09-24},
booktitle = {The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)},
series = {Bilbao, Bizkaia, Spain},
abstract = {Collision avoidance (CA) has always been the foremost task for autonomous vehicles (AVs) under safety criteria. And path planning is directly responsible for generating a safe path to accomplish CA while satisfying other commands. Due to the real-time computation and simple structure, the potential field (PF) has emerged as one of the mainstream path-planning algorithms. However, the current PF is primarily simulated in ideal CA scenarios, assuming complete obstacle information while disregarding occlusion issues where obstacles can be partially or entirely hidden from the AV's sensors. During the occlusion period, the occluded obstacles do not possess a PF. Once the occlusion is over, these obstacles can generate an instantaneous virtual force that impacts the ego vehicle. Therefore, we propose an occlusion-aware path planning (OAPP) with the responsibility-sensitive safety (RSS)-based PF to tackle the occlusion problem for non-connected AVs. We first categorize the detected and occluded obstacles, and then we proceed to the RSS violation check. Finally, we can generate different virtual forces from the PF for occluded and non-occluded obstacles. We compare the proposed OAPP method with other PF-based path planning methods via MATLAB/Simulink. The simulation results indicate that the proposed method can eliminate instantaneous lateral oscillation or sway and produce a smoother path than conventional PF methods.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Collision avoidance (CA) has always been the foremost task for autonomous vehicles (AVs) under safety criteria. And path planning is directly responsible for generating a safe path to accomplish CA while satisfying other commands. Due to the real-time computation and simple structure, the potential field (PF) has emerged as one of the mainstream path-planning algorithms. However, the current PF is primarily simulated in ideal CA scenarios, assuming complete obstacle information while disregarding occlusion issues where obstacles can be partially or entirely hidden from the AV's sensors. During the occlusion period, the occluded obstacles do not possess a PF. Once the occlusion is over, these obstacles can generate an instantaneous virtual force that impacts the ego vehicle. Therefore, we propose an occlusion-aware path planning (OAPP) with the responsibility-sensitive safety (RSS)-based PF to tackle the occlusion problem for non-connected AVs. We first categorize the detected and occluded obstacles, and then we proceed to the RSS violation check. Finally, we can generate different virtual forces from the PF for occluded and non-occluded obstacles. We compare the proposed OAPP method with other PF-based path planning methods via MATLAB/Simulink. The simulation results indicate that the proposed method can eliminate instantaneous lateral oscillation or sway and produce a smoother path than conventional PF methods.
Ye Tao, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Flowsim: A Modular Simulation Platform for Microscopic Behavior Analysis of City-Scale Connected Autonomous Vehicles", In: The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Bilbao, Bizkaia, Spain, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Tao2023c,
title = {Flowsim: A Modular Simulation Platform for Microscopic Behavior Analysis of City-Scale Connected Autonomous Vehicles},
author = {Ye Tao and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://github.com/tlab-wide/flowsim
https://arxiv.org/abs/2306.05738},
doi = {10.1109/ITSC57777.2023.10421900},
year = {2023},
date = {2023-09-24},
urldate = {2023-09-24},
booktitle = {The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)},
address = {Bilbao, Bizkaia, Spain},
abstract = {As connected autonomous vehicles (CAVs) become increasingly prevalent, there is a growing need for simulation platforms that can accurately evaluate CAV behavior in large-scale environments. In this paper, we propose Flowsim, a novel simulator specifically designed to meet these requirements. Flowsim offers a modular and extensible architecture that enables the analysis of CAV behaviors in large-scale scenarios. It provides researchers with a customizable platform for studying CAV interactions, evaluating communication and networking protocols, assessing cybersecurity vulnerabilities, optimizing traffic management strategies, and developing and evaluating policies for CAV deployment. Flowsim is implemented in pure Python in approximately 1,500 lines of code, making it highly readable, understandable, and easily modifiable. We verified the functionality and performance of Flowsim via a series of experiments based on realistic traffic scenarios. The results show the effectiveness of Flowsim in providing a flexible and powerful simulation environment for evaluating CAV behavior and data flow. Flowsim is a valuable tool for researchers, policymakers, and industry professionals who are involved in the development, evaluation, and deployment of CAVs. The code of Flowsim is publicly available on GitHub under the MIT license. },
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
As connected autonomous vehicles (CAVs) become increasingly prevalent, there is a growing need for simulation platforms that can accurately evaluate CAV behavior in large-scale environments. In this paper, we propose Flowsim, a novel simulator specifically designed to meet these requirements. Flowsim offers a modular and extensible architecture that enables the analysis of CAV behaviors in large-scale scenarios. It provides researchers with a customizable platform for studying CAV interactions, evaluating communication and networking protocols, assessing cybersecurity vulnerabilities, optimizing traffic management strategies, and developing and evaluating policies for CAV deployment. Flowsim is implemented in pure Python in approximately 1,500 lines of code, making it highly readable, understandable, and easily modifiable. We verified the functionality and performance of Flowsim via a series of experiments based on realistic traffic scenarios. The results show the effectiveness of Flowsim in providing a flexible and powerful simulation environment for evaluating CAV behavior and data flow. Flowsim is a valuable tool for researchers, policymakers, and industry professionals who are involved in the development, evaluation, and deployment of CAVs. The code of Flowsim is publicly available on GitHub under the MIT license.
Nicholaus Danispadmanaba Yosodipuro, Ehsan Javanmardi, Jin Nakazato, Yasumasa Tamura, Xavier Defago, Manabu Tsukada, "Mixed-traffic Intersection Management using Traffic-load-responsive Reservation and V2X-enabled Speed Coordination", In: The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023), Bilbao, Bizkaia, Spain, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Yosodipuro2023,
title = {Mixed-traffic Intersection Management using Traffic-load-responsive Reservation and V2X-enabled Speed Coordination},
author = {Nicholaus Danispadmanaba Yosodipuro and Ehsan Javanmardi and Jin Nakazato and Yasumasa Tamura and Xavier Defago and Manabu Tsukada},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/374470825_Mixed-traffic_Intersection_Management_using_Traffic-load-responsive_Reservation_and_V2X-enabled_Speed_Coordination/links/651ee8d63ab6cb4ec6bde79a/Mixed-traffic-Intersection-Management-using-Traffic-load-responsive-Reservation-and-V2X-enabled-Speed-Coordination.pdf},
doi = {10.1109/ITSC57777.2023.10422248},
year = {2023},
date = {2023-09-24},
urldate = {2023-09-24},
booktitle = {The 26th edition of the IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)},
address = {Bilbao, Bizkaia, Spain},
abstract = {Vehicle-to-everything (V2X) communication enables connected autonomous vehicles (CAVs) to share information and generate optimal decisions. The networking abilities of CAVs have led to the development of unsignalized autonomous intersection management (AIM) methods that leverage CAVs to significantly improve traffic flows. However, AIM methods assume 100% CAV market penetration, which is currently unrealistic owing to the gradual adoption of CAVs. Therefore, CAVs must share road usage with nonconnected vehicles (NCVs). Thus, we propose a mixed-traffic intersection management method that considers NCVs while ensuring high traffic flow, called traffic-load-responsive reservation for intersection management (TLRRIM). In TLRRIM, the roadside unit (RSU) first classifies vehicles and groups them into clusters before selecting a reservation cluster to cross an intersection. The reservation cluster selection considers both traffic load and crossing urgency. In addition, the RSU utilizes V2X-enabled speed coordination (VESC) for CAVs within the reservation cluster to further improve traffic flow, while utilizing traffic lights to guide NCVs. Simulation-based experiments using OpenCDA and CARLA showed that TLRRIM can increase throughput and reduce waiting time by up to 89.63% and 60.71%, respectively, compared with the fixed-time signaling method. Moreover, adding VESC can increase throughput by 12.21% and reduce waiting time by 10.80%, further enhancing traffic flow. },
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Vehicle-to-everything (V2X) communication enables connected autonomous vehicles (CAVs) to share information and generate optimal decisions. The networking abilities of CAVs have led to the development of unsignalized autonomous intersection management (AIM) methods that leverage CAVs to significantly improve traffic flows. However, AIM methods assume 100% CAV market penetration, which is currently unrealistic owing to the gradual adoption of CAVs. Therefore, CAVs must share road usage with nonconnected vehicles (NCVs). Thus, we propose a mixed-traffic intersection management method that considers NCVs while ensuring high traffic flow, called traffic-load-responsive reservation for intersection management (TLRRIM). In TLRRIM, the roadside unit (RSU) first classifies vehicles and groups them into clusters before selecting a reservation cluster to cross an intersection. The reservation cluster selection considers both traffic load and crossing urgency. In addition, the RSU utilizes V2X-enabled speed coordination (VESC) for CAVs within the reservation cluster to further improve traffic flow, while utilizing traffic lights to guide NCVs. Simulation-based experiments using OpenCDA and CARLA showed that TLRRIM can increase throughput and reduce waiting time by up to 89.63% and 60.71%, respectively, compared with the fixed-time signaling method. Moreover, adding VESC can increase throughput by 12.21% and reduce waiting time by 10.80%, further enhancing traffic flow.
Momoka Yamamoto, Jin Nakazato, Romain Fontugne, Manabu Tsukada, Hiroshi Esaki, "Evaluation of IPv6-only-Capable Iterative Resolvers", ACM Special Interest Group on Data Communication (SIGCOMM), Poster, 2023.Miscellaneous | Abstract | BibTeX | Links:
@misc{Yamamoto2023b,
title = {Evaluation of IPv6-only-Capable Iterative Resolvers},
author = {Momoka Yamamoto and Jin Nakazato and Romain Fontugne and Manabu Tsukada and Hiroshi Esaki},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/373512394_Evaluation_of_IPv6-only-Capable_Iterative_Resolvers/links/64ef62530f7ab20a8666c879/Evaluation-of-IPv6-only-Capable-Iterative-Resolvers.pdf},
doi = {10.1145/3603269.3610850},
year = {2023},
date = {2023-09-10},
urldate = {2023-09-10},
pages = {1102-1104},
address = {New York City, USA},
abstract = {This paper introduces an "IPv6-only-Capable resolver" to address the issue of many zones remaining unresolvable due to a lack of IPv6 connectivity in authoritative name servers. The proposed method utilizes NAT64 to transmit packets to IPv4-only authoritative name servers and increases resolution success rates with competitive response times compared to a traditional IPv6-only resolver.},
howpublished = {ACM Special Interest Group on Data Communication (SIGCOMM), Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
This paper introduces an "IPv6-only-Capable resolver" to address the issue of many zones remaining unresolvable due to a lack of IPv6 connectivity in authoritative name servers. The proposed method utilizes NAT64 to transmit packets to IPv4-only authoritative name servers and increases resolution success rates with competitive response times compared to a traditional IPv6-only resolver.
Muhammad Asad, Saima Shaukat, Dou Hu, Zekun Wang, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, "Limitations and Future Aspects of Communication Costs in Federated Learning: A Survey", In: Sensors, vol. 23, no. 17, 2023, ISSN: 1424-8220.Journal Article | Abstract | BibTeX | Links:
@article{Asad2023b,
title = {Limitations and Future Aspects of Communication Costs in Federated Learning: A Survey},
author = {Muhammad Asad and Saima Shaukat and Dou Hu and Zekun Wang and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada},
doi = {10.3390/s23177358},
issn = {1424-8220},
year = {2023},
date = {2023-08-23},
urldate = {2023-08-23},
journal = {Sensors},
volume = {23},
number = {17},
abstract = {This paper explores the potential for communication-efficient federated learning (FL) in modern distributed systems. FL is an emerging distributed machine learning technique that allows for distributed training of a single machine learning model across multiple geographically distributed clients. This paper surveys the various approaches to communication-efficient FL, including model updates, compression techniques, resource management for edge and cloud, and client selection. We also review the various optimization techniques associated with communication-efficient FL, such as compression schemes and structured updates. Finally, we highlight the current research challenges and discuss the potential future directions for communication-efficient FL.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper explores the potential for communication-efficient federated learning (FL) in modern distributed systems. FL is an emerging distributed machine learning technique that allows for distributed training of a single machine learning model across multiple geographically distributed clients. This paper surveys the various approaches to communication-efficient FL, including model updates, compression techniques, resource management for edge and cloud, and client selection. We also review the various optimization techniques associated with communication-efficient FL, such as compression schemes and structured updates. Finally, we highlight the current research challenges and discuss the potential future directions for communication-efficient FL.
Momoka Yamamoto, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki
, "Iterative Resolution with IPv6 Packets Failing", The 32nd International Conference on Computer Communication and Networks (ICCCN 2023), Poster, 2023.Miscellaneous | Abstract | BibTeX | Links:
@misc{Yamamoto2023,
title = {Iterative Resolution with IPv6 Packets Failing},
author = {Momoka Yamamoto and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki
},
url = {https://tlab.hongo.wide.ad.jp/papers/ICCCN2023_poster.pdf},
doi = {10.1109/ICCCN58024.2023.10230170},
year = {2023},
date = {2023-07-24},
urldate = {2023-07-24},
address = {Waikiki Beach/Honolulu, Hawaii, USA},
abstract = {The exhaustion of IPv4 addresses has driven the rapid adoption of IPv6 networks, which has created challenges in the domain name resolution process, particularly for IPv6-only iterative resolvers. This paper presents an experimental analysis to quantify the extent of this problem, revealing a significantly lower success rate of name resolution using IPv6-only resolvers (64.1%) compared to IPv4-only resolvers (98.8%). By analysing the success rates and percentages of A and AAAA records for the top 1,000,000 domains in the Tranco list, we identify the limitations of IPv6-only iterative resolvers and highlight the urgent need for comprehensive solutions to improve DNS resolution in IPv6-only networks. Our findings emphasise the importance of full IPv6 adoption for improved compatibility in IPv6-only environments, and serve as a basis for addressing the challenges faced by IPv6-only networks.},
howpublished = {The 32nd International Conference on Computer Communication and Networks (ICCCN 2023), Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
The exhaustion of IPv4 addresses has driven the rapid adoption of IPv6 networks, which has created challenges in the domain name resolution process, particularly for IPv6-only iterative resolvers. This paper presents an experimental analysis to quantify the extent of this problem, revealing a significantly lower success rate of name resolution using IPv6-only resolvers (64.1%) compared to IPv4-only resolvers (98.8%). By analysing the success rates and percentages of A and AAAA records for the top 1,000,000 domains in the Tranco list, we identify the limitations of IPv6-only iterative resolvers and highlight the urgent need for comprehensive solutions to improve DNS resolution in IPv6-only networks. Our findings emphasise the importance of full IPv6 adoption for improved compatibility in IPv6-only environments, and serve as a basis for addressing the challenges faced by IPv6-only networks.
Zekun Wang, Jin Nakazato, Muhammad Asad, Ehsan Javanmardi, Manabu Tsukada, "Overcoming Environmental Challenges in CAVs Through MEC-Based Federated Learning", In: 14th International Conference on Ubiquitous and Future Networks (ICUFN2023), pp. 1-6, Paris, France, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Wang2023,
title = {Overcoming Environmental Challenges in CAVs Through MEC-Based Federated Learning},
author = {Zekun Wang and Jin Nakazato and Muhammad Asad and Ehsan Javanmardi and Manabu Tsukada},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/371685830_Overcoming_Environmental_Challenges_in_CAVs_through_MEC-based_Federated_Learning/links/64a420ea8de7ed28ba7465c7/Overcoming-Environmental-Challenges-in-CAVs-through-MEC-based-Federated-Learning.pdf},
doi = {10.1109/ICUFN57995.2023.10200688},
year = {2023},
date = {2023-07-04},
urldate = {2023-07-04},
booktitle = {14th International Conference on Ubiquitous and Future Networks (ICUFN2023)},
pages = {1-6},
address = {Paris, France},
abstract = {Connected autonomous vehicles (CAVs), through vehicle-to-everything communication and computing resources, enable the vital exchange of information. Although deep learning is crucial in this landscape, it requires extensive and intricate datasets covering all potential scenarios. Furthermore, this situation poses a hazard, as the likelihood of accidents associated with imbalanced datasets increases, particularly in scenarios where processing analysis is compromised due to fluctuating weather conditions. We propose a Federated Learning (FL) framework undergirded by Multi-Access Edge Computing (MEC) to counter these challenges. This local device-focused framework enhances task-specific models' caching and continual updating across various conditions. In a more specific sense, edge nodes (ENs) operate as MEC, each caching multiple dedicated models and serving as the aggregator as part of the FL process. Additionally, we have engineered two innovative algorithms that categorize various states into multiple classes, thereby ensuring the efficient utilization of computing resources in ENs. Simulation results substantiate the effectiveness of our approach, showing that the proposed dedicated model consistently outperforms a general model designed for all situations.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Connected autonomous vehicles (CAVs), through vehicle-to-everything communication and computing resources, enable the vital exchange of information. Although deep learning is crucial in this landscape, it requires extensive and intricate datasets covering all potential scenarios. Furthermore, this situation poses a hazard, as the likelihood of accidents associated with imbalanced datasets increases, particularly in scenarios where processing analysis is compromised due to fluctuating weather conditions. We propose a Federated Learning (FL) framework undergirded by Multi-Access Edge Computing (MEC) to counter these challenges. This local device-focused framework enhances task-specific models' caching and continual updating across various conditions. In a more specific sense, edge nodes (ENs) operate as MEC, each caching multiple dedicated models and serving as the aggregator as part of the FL process. Additionally, we have engineered two innovative algorithms that categorize various states into multiple classes, thereby ensuring the efficient utilization of computing resources in ENs. Simulation results substantiate the effectiveness of our approach, showing that the proposed dedicated model consistently outperforms a general model designed for all situations.
Kazuma Inokuchi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "Semantic Digital Twin for interoperability and comprehensive management of data assets", In: IEEE International Conference on Metaverse Computing, Networking and Applications (IEEE MetaCom 2023), Kyoto, Japan, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Inokuchi2023b,
title = {Semantic Digital Twin for interoperability and comprehensive management of data assets},
author = {Kazuma Inokuchi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/371903091_Semantic_digital_twin_for_interoperability_and_Comprehensive_Management_of_Data_Assets/links/649b13318de7ed28ba5ca665/Semantic-digital-twin-for-interoperability-and-Comprehensive-Management-of-Data-Assets.pdf},
doi = {10.1109/MetaCom57706.2023.00049},
year = {2023},
date = {2023-06-26},
urldate = {2023-06-26},
booktitle = {IEEE International Conference on Metaverse Computing, Networking and Applications (IEEE MetaCom 2023)},
address = {Kyoto, Japan},
abstract = {Fusion of the real and virtual worlds is essential for applying digital technology to the infrastructure of human life. A digital twin is one of the technologies that aim to integrate real and virtual space. It creates a digital world with high fidelity to reality by accumulating exhaustive information from sensors to improve simulation and prediction accuracy. However, traditional digital twins have data asset management challenges owing to the physical, temporal, and structural heterogeneity of their objects. In this paper, we propose two metadata schemas that leverage semantics to construct a designer-oriented digital twin. Moreover, we implemented a viewer that reproduced the office-like demonstration field to verify the application of the proposed ontology. The proposed method enables a generic description of the dynamic behaviors of any entity by integrating physical twins faithful to the real world with virtual models expected by designers. We compared the proposed ontologies with existing techniques, conducted user evaluations, and discussed possible approaches for further enhancements for widespread use.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Fusion of the real and virtual worlds is essential for applying digital technology to the infrastructure of human life. A digital twin is one of the technologies that aim to integrate real and virtual space. It creates a digital world with high fidelity to reality by accumulating exhaustive information from sensors to improve simulation and prediction accuracy. However, traditional digital twins have data asset management challenges owing to the physical, temporal, and structural heterogeneity of their objects. In this paper, we propose two metadata schemas that leverage semantics to construct a designer-oriented digital twin. Moreover, we implemented a viewer that reproduced the office-like demonstration field to verify the application of the proposed ontology. The proposed method enables a generic description of the dynamic behaviors of any entity by integrating physical twins faithful to the real world with virtual models expected by designers. We compared the proposed ontologies with existing techniques, conducted user evaluations, and discussed possible approaches for further enhancements for widespread use.
Takuro Sone, Shin Kato, Ray Atarashi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "An Ontology for Spatio-Temporal Media Management and an Interactive Application", In: Future Internet, vol. 15, iss. 7, no. 225, 2023, ISSN: 1999-5903.Journal Article | Abstract | BibTeX | Links:
@article{Sone2023,
title = {An Ontology for Spatio-Temporal Media Management and an Interactive Application},
author = {Takuro Sone and Shin Kato and Ray Atarashi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://github.com/sdm-wg/web360square-vue
https://tlab.hongo.wide.ad.jp/sdmo/},
doi = {10.3390/fi15070225},
issn = {1999-5903},
year = {2023},
date = {2023-06-23},
urldate = {2023-06-23},
journal = {Future Internet},
volume = {15},
number = {225},
issue = {7},
abstract = {In addition to traditional viewing media, metadata that record the physical space from multiple perspectives will become extremely important in realizing interactive applications such as Virtual Reality(VR), Augmented Reality(AR). This paper proposes the Software Defined Media (SDM) Ontology designed to describe spatio-temporal media and the systems that handle them comprehensively. Spatio-temporal media refers to video, audio, and various sensor values recorded together with time and location information. The SDM Ontology can flexibly and precisely represent spatio-temporal media, equipment, and functions that record, process, edit, and play them and related semantic information. In addition, we recorded classical and jazz concerts using many video cameras and audio microphones, and then processed and edited the video and audio data with related metadata. Then, we created a dataset using the SDM Ontology and published it as linked open data(LOD). Furthermore, we developed "Web360^2" an application that enables users to interactively view and experience 360-degree video and spatial acoustic sounds by referring to this dataset. We conducted a subjective evaluation by using a user questionnaire. Web360^2 is a data-driven web application that obtains video and audio data and related metadata by querying the Dataset.
},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
In addition to traditional viewing media, metadata that record the physical space from multiple perspectives will become extremely important in realizing interactive applications such as Virtual Reality(VR), Augmented Reality(AR). This paper proposes the Software Defined Media (SDM) Ontology designed to describe spatio-temporal media and the systems that handle them comprehensively. Spatio-temporal media refers to video, audio, and various sensor values recorded together with time and location information. The SDM Ontology can flexibly and precisely represent spatio-temporal media, equipment, and functions that record, process, edit, and play them and related semantic information. In addition, we recorded classical and jazz concerts using many video cameras and audio microphones, and then processed and edited the video and audio data with related metadata. Then, we created a dataset using the SDM Ontology and published it as linked open data(LOD). Furthermore, we developed "Web360^2" an application that enables users to interactively view and experience 360-degree video and spatial acoustic sounds by referring to this dataset. We conducted a subjective evaluation by using a user questionnaire. Web360^2 is a data-driven web application that obtains video and audio data and related metadata by querying the Dataset.
Yu Asabe, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "AutowareV2X: Reliable V2X Communication and Collective Perception for Autonomous Driving", In: The 2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring), Florence, Italy, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Asabe2023b,
title = {AutowareV2X: Reliable V2X Communication and Collective Perception for Autonomous Driving},
author = {Yu Asabe and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://github.com/tlab-wide/AutowareV2X
https://tlab-wide.github.io/AutowareV2X/main/
https://www.youtube.com/watch?v=57fx3-gUNxU},
doi = {10.1109/VTC2023-Spring57618.2023.10199425},
year = {2023},
date = {2023-06-20},
urldate = {2023-06-20},
booktitle = {The 2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)},
address = {Florence, Italy},
abstract = {For cooperative intelligent transport systems (C-ITS), vehicle-to-everything (V2X) communication is utilized to allow autonomous vehicles to share critical information with each other. We propose AutowareV2X, an implementation of a V2X communication module that is integrated into the autonomous driving (AD) software, Autoware. AutowareV2X provides external connectivity to the entire AD stack, enabling the end-to-end (E2E) experimentation and evaluation of connected autonomous vehicles (CAV). The Collective Perception Service was also implemented, allowing the transmission of Collective Perception Messages (CPMs). A dual-channel mechanism that enables wireless link redundancy on the critical object information shared by CPMs is also proposed. Performance evaluation in field experiments has indicated that the E2E latency of perception information is around 30 ms, and shared object data can be used by the AD software to conduct collision avoidance maneuvers. Dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
For cooperative intelligent transport systems (C-ITS), vehicle-to-everything (V2X) communication is utilized to allow autonomous vehicles to share critical information with each other. We propose AutowareV2X, an implementation of a V2X communication module that is integrated into the autonomous driving (AD) software, Autoware. AutowareV2X provides external connectivity to the entire AD stack, enabling the end-to-end (E2E) experimentation and evaluation of connected autonomous vehicles (CAV). The Collective Perception Service was also implemented, allowing the transmission of Collective Perception Messages (CPMs). A dual-channel mechanism that enables wireless link redundancy on the critical object information shared by CPMs is also proposed. Performance evaluation in field experiments has indicated that the E2E latency of perception information is around 30 ms, and shared object data can be used by the AD software to conduct collision avoidance maneuvers. Dual-channel delivery of CPMs enabled the CAV to dynamically select the best CPM from CPMs received from different links, depending on the freshness of their information.
Dou Hu, Jin Nakazato, Ehsan Javanmardi, Muhammad Asad, Manabu Tsukada
, "An Extended Kalman Filter Enabled Beam Tracking Framework in Intersection Management", European Conference on Networks and Communications (EuCNC) & 6G Summit Poster, 2023.Miscellaneous | Abstract | BibTeX | Links:
@misc{Hu2023,
title = {An Extended Kalman Filter Enabled Beam Tracking Framework in Intersection Management},
author = {Dou Hu and Jin Nakazato and Ehsan Javanmardi and Muhammad Asad and Manabu Tsukada
},
url = {https://www.researchgate.net/profile/Jin-Nakazato/publication/371358188_An_Extended_Kalman_Filter_Enabled_Beam_Tracking_Framework_in_Intersection_Management/links/64807e24b3dfd73b776baeed/An-Extended-Kalman-Filter-Enabled-Beam-Tracking-Framework-in-Intersection-Management.pdf},
year = {2023},
date = {2023-06-06},
urldate = {2023-06-06},
address = {Gothenburg, Sweden},
abstract = {Recently, vehicle-to-everything (V2X) has been at- tracting attention for its potential to improve traffic safety and increase traffic volume worldwide, improving the accuracy of data and parameters collected from moving vehicles is widely discussed in the V2X. The most common technique of GPS may not be efficient during some specific scenarios, like some intersections full of skyscrapers, or some special terrains with obstacles. In such cases, GPS technology has a longer detection period and lower tracking accuracy, so beam tracking can be a fast and efficient solution in these circumstances. Therefore we propose an anti-diverge extend Kalman filter-enabled beam tracking method in V2X to help the intersection management. The numerical results show that our method has the ability to resist the Kalman filter’s divergence and can detect data in an accurate manner.},
howpublished = {European Conference on Networks and Communications (EuCNC) & 6G Summit Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
Recently, vehicle-to-everything (V2X) has been at- tracting attention for its potential to improve traffic safety and increase traffic volume worldwide, improving the accuracy of data and parameters collected from moving vehicles is widely discussed in the V2X. The most common technique of GPS may not be efficient during some specific scenarios, like some intersections full of skyscrapers, or some special terrains with obstacles. In such cases, GPS technology has a longer detection period and lower tracking accuracy, so beam tracking can be a fast and efficient solution in these circumstances. Therefore we propose an anti-diverge extend Kalman filter-enabled beam tracking method in V2X to help the intersection management. The numerical results show that our method has the ability to resist the Kalman filter’s divergence and can detect data in an accurate manner.
Pengfei Lin, Ehsan Javanmardi, Ye Tao, Vishal Chauhan, Jin Nakazato, Manabu Tsukada, "Time-To-Collision-Aware Lane-Change Strategy Based on Potential Field and Cubic Polynomial for Autonomous Vehicles", In: 2023 IEEE Intelligent Vehicles Symposium (IEEE IV 2023), Anchorage, Alaska, USA, 2023.Proceedings Article | Abstract | BibTeX | Links:
@inproceedings{Lin2023,
title = {Time-To-Collision-Aware Lane-Change Strategy Based on Potential Field and Cubic Polynomial for Autonomous Vehicles},
author = {Pengfei Lin and Ehsan Javanmardi and Ye Tao and Vishal Chauhan and Jin Nakazato and Manabu Tsukada},
url = {https://arxiv.org/abs/2306.06981},
year = {2023},
date = {2023-06-04},
urldate = {2023-06-04},
booktitle = {2023 IEEE Intelligent Vehicles Symposium (IEEE IV 2023)},
address = {Anchorage, Alaska, USA},
abstract = {Making safe and successful lane changes (LCs) is one of the many vitally important functions of autonomous vehicles (AVs) that are needed to ensure safe driving on expressways. Recently, the simplicity and real-time performance of the potential field (PF) method have been leveraged to design decision and planning modules for AVs. However, the LC trajectory planned by the PF method is usually lengthy and takes the ego vehicle laterally parallel and close to the obstacle vehicle, which creates a dangerous situation if the obstacle vehicle suddenly steers. To mitigate this risk, we propose a time-to-collision-aware LC (TTCA-LC) strategy based on the PF and cubic polynomial in which the TTC constraint is imposed in the optimized curve fitting. The proposed approach is evaluated using MATLAB/Simulink under high-speed conditions in a comparative driving scenario. The simulation results indicate that the TTCA-LC method performs better than the conventional PF-based LC (CPF-LC) method in generating shorter, safer, and smoother trajectories. The length of the LC trajectory is shortened by over 27.1%, and the curvature is reduced by approximately 56.1% compared with the CPF-LC method.
},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Making safe and successful lane changes (LCs) is one of the many vitally important functions of autonomous vehicles (AVs) that are needed to ensure safe driving on expressways. Recently, the simplicity and real-time performance of the potential field (PF) method have been leveraged to design decision and planning modules for AVs. However, the LC trajectory planned by the PF method is usually lengthy and takes the ego vehicle laterally parallel and close to the obstacle vehicle, which creates a dangerous situation if the obstacle vehicle suddenly steers. To mitigate this risk, we propose a time-to-collision-aware LC (TTCA-LC) strategy based on the PF and cubic polynomial in which the TTC constraint is imposed in the optimized curve fitting. The proposed approach is evaluated using MATLAB/Simulink under high-speed conditions in a comparative driving scenario. The simulation results indicate that the TTCA-LC method performs better than the conventional PF-based LC (CPF-LC) method in generating shorter, safer, and smoother trajectories. The length of the LC trajectory is shortened by over 27.1%, and the curvature is reduced by approximately 56.1% compared with the CPF-LC method.
Muhammad Asad, Saima Shaukat, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, "A Comprehensive Survey on Privacy-Preserving Techniques in Federated Recommendation Systems", In: Applied Sciences , 2023, ISSN: 2076-3417.Journal Article | Abstract | BibTeX | Links:
@article{Asad2023,
title = {A Comprehensive Survey on Privacy-Preserving Techniques in Federated Recommendation Systems},
author = {Muhammad Asad and Saima Shaukat and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada},
doi = {10.3390/app13106201},
issn = {2076-3417},
year = {2023},
date = {2023-05-18},
urldate = {2023-05-18},
journal = {Applied Sciences },
abstract = {Big data is a rapidly growing field, and new developments are constantly emerging to address various challenges. One such development is the use of federated learning for recommendation systems (FRSs). An FRS provides a way to protect user privacy by training recommendation models using intermediate parameters instead of real user data. This approach allows for cooperation between data platforms while still complying with privacy regulations. In this paper, we explored the current state of research on FRSs, highlighting existing research issues and possible solutions. Specifically, we looked at how FRSs can be used to protect user privacy while still allowing organizations to benefit from the data they share. Additionally, we examined potential applications of FRSs in the context of big data, exploring how these systems can be used to facilitate secure data sharing and collaboration. Finally, we discuss the challenges associated with developing and deploying FRSs in the real world and how these challenges can be addressed.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Big data is a rapidly growing field, and new developments are constantly emerging to address various challenges. One such development is the use of federated learning for recommendation systems (FRSs). An FRS provides a way to protect user privacy by training recommendation models using intermediate parameters instead of real user data. This approach allows for cooperation between data platforms while still complying with privacy regulations. In this paper, we explored the current state of research on FRSs, highlighting existing research issues and possible solutions. Specifically, we looked at how FRSs can be used to protect user privacy while still allowing organizations to benefit from the data they share. Additionally, we examined potential applications of FRSs in the context of big data, exploring how these systems can be used to facilitate secure data sharing and collaboration. Finally, we discuss the challenges associated with developing and deploying FRSs in the real world and how these challenges can be addressed.
2022
Yu Asabe, Ehsan Javanmardi, Jin Nakazato, Manabu Tsukada, Hiroshi Esaki, "AutowareV2X: Enabling V2X Communication and Collective Perception for Autonomous Driving", Asian Internet Engineering Conference (AINTEC) 2022 Poster, 2022, (Best Poster Award).Miscellaneous | Abstract | BibTeX | Links:
@misc{Asabe2022,
title = {AutowareV2X: Enabling V2X Communication and Collective Perception for Autonomous Driving},
author = {Yu Asabe and Ehsan Javanmardi and Jin Nakazato and Manabu Tsukada and Hiroshi Esaki},
url = {https://tlab.hongo.wide.ad.jp/papers/2022_AINTEC2022_poster_asabe.pdf
https://tlab-wide.github.io/AutowareV2X/main/},
year = {2022},
date = {2022-12-20},
urldate = {2022-12-20},
abstract = {For cooperative intelligent transport systems (C-ITS), vehicle-to-everything (V2X) communication is utilized to allow autonomous vehicles to share critical information with each other, enabling cooperatively enhanced environmental awareness and decision-making. We propose AutowareV2X, an implementation of a V2X communication module that is integrated into the autonomous driving (AD) software, Autoware. AutowareV2X provides external connectivity to the entire AD stack, enabling the end-to-end experimentation and evaluation of connected autonomous vehicles (CAV).},
howpublished = {Asian Internet Engineering Conference (AINTEC) 2022 Poster},
note = {Best Poster Award},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
For cooperative intelligent transport systems (C-ITS), vehicle-to-everything (V2X) communication is utilized to allow autonomous vehicles to share critical information with each other, enabling cooperatively enhanced environmental awareness and decision-making. We propose AutowareV2X, an implementation of a V2X communication module that is integrated into the autonomous driving (AD) software, Autoware. AutowareV2X provides external connectivity to the entire AD stack, enabling the end-to-end experimentation and evaluation of connected autonomous vehicles (CAV).
Koichi Kambara, Ehsan Javanmardi, Jin Nakazato, Yousuke Watanabe, Kenya Sato, Hiroaki Takada, Manabu Tsukada, "Towards Cooperative Automated Driving: Geographic-Aware Network Analysis and Visualization tool", Asian Internet Engineering Conference (AINTEC) 2022 Poster, 2022.Miscellaneous | Abstract | BibTeX | Links:
@misc{Kambara2022,
title = {Towards Cooperative Automated Driving: Geographic-Aware Network Analysis and Visualization tool},
author = {Koichi Kambara and Ehsan Javanmardi and Jin Nakazato and Yousuke Watanabe and Kenya Sato and Hiroaki Takada and Manabu Tsukada},
url = {https://tlab.hongo.wide.ad.jp/papers/2022_AINTEC2022_poster_kambara.pdf},
year = {2022},
date = {2022-12-19},
urldate = {2022-12-19},
abstract = {In recent years the cooperative automated vehicle (CAV) concept has been gaining attention due to its potential to increase traffic safety and traffic flow by utilizing the vehicle-to-everything communication capability. One of the key requirements for CAV is ensuring every vehicle receives relevant messages at the right time and place; therefore, measuring and visualizing network performance is vital. However, for CAV applications, more network analyzers than those extant are needed because these do not consider geographical characteristics. In this study, we proposed a geographically-aware CAV-specific network analysis and visualization tool that can report the network performance factors such as packet loss, bandwidth, and jitter in real time. Further, we developed a proposal tool and evaluated it in an outdoor proof-of-concept study at the University of Tokyo’s Hongo Campus.},
howpublished = {Asian Internet Engineering Conference (AINTEC) 2022 Poster},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
In recent years the cooperative automated vehicle (CAV) concept has been gaining attention due to its potential to increase traffic safety and traffic flow by utilizing the vehicle-to-everything communication capability. One of the key requirements for CAV is ensuring every vehicle receives relevant messages at the right time and place; therefore, measuring and visualizing network performance is vital. However, for CAV applications, more network analyzers than those extant are needed because these do not consider geographical characteristics. In this study, we proposed a geographically-aware CAV-specific network analysis and visualization tool that can report the network performance factors such as packet loss, bandwidth, and jitter in real time. Further, we developed a proposal tool and evaluated it in an outdoor proof-of-concept study at the University of Tokyo’s Hongo Campus.
