{"id":"https://openalex.org/W4316660921","doi":"https://doi.org/10.1109/tvt.2023.3236978","title":"ROS-Based Collaborative Driving Framework in Autonomous Vehicular Networks","display_name":"ROS-Based Collaborative Driving Framework in Autonomous Vehicular Networks","publication_year":2023,"publication_date":"2023-01-16","ids":{"openalex":"https://openalex.org/W4316660921","doi":"https://doi.org/10.1109/tvt.2023.3236978"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3236978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3236978","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/ROS-based_Collaborative_Driving_Framework_in_Autonomous_Vehicular_Networks/22199041","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020261885","display_name":"Ruhan Liu","orcid":"https://orcid.org/0000-0002-0281-8039"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Ruhan Liu","raw_affiliation_strings":["School of Info Technology, Deakin University, Melbourne, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"School of Info Technology, Deakin University, Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036007592","display_name":"Jinkai Zheng","orcid":"https://orcid.org/0000-0002-7171-2668"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinkai Zheng","raw_affiliation_strings":["School of Cyber Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040978564","display_name":"Tom H. Luan","orcid":"https://orcid.org/0000-0002-5215-7443"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tom H. Luan","raw_affiliation_strings":["School of Cyber Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012293028","display_name":"Longxiang Gao","orcid":"https://orcid.org/0000-0002-3026-7537"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longxiang Gao","raw_affiliation_strings":["Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China"],"affiliations":[{"raw_affiliation_string":"Shandong Computer Science Center (National Supercomputer Center in Jinan), Qilu University of Technology (Shandong Academy of Sciences), Jinan, China","institution_ids":["https://openalex.org/I152269853","https://openalex.org/I4210142748"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045332200","display_name":"Yilong Hui","orcid":"https://orcid.org/0000-0001-5543-2669"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilong Hui","raw_affiliation_strings":["State Key Laboratory of Integrated Services Networks and the School of Telecommunications Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Services Networks and the School of Telecommunications Engineering, Xidian University, Xi&#x0027;an, Shaanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051297830","display_name":"Yong Xiang","orcid":"https://orcid.org/0000-0003-3545-7863"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Yong Xiang","raw_affiliation_strings":["School of Info Technology, Deakin University, Melbourne, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"School of Info Technology, Deakin University, Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061453937","display_name":"Mianxiong Dong","orcid":"https://orcid.org/0000-0002-2788-3451"},"institutions":[{"id":"https://openalex.org/I41725924","display_name":"Muroran Institute of Technology","ror":"https://ror.org/04rymkk69","country_code":"JP","type":"education","lineage":["https://openalex.org/I41725924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mianxiong Dong","raw_affiliation_strings":["Department of Sciences and Informatics, Muroran Institute of Technology, Hokkaido, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Sciences and Informatics, Muroran Institute of Technology, Hokkaido, Japan","institution_ids":["https://openalex.org/I41725924"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5020261885"],"corresponding_institution_ids":["https://openalex.org/I149704539"],"apc_list":null,"apc_paid":null,"fwci":1.299,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79185831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"72","issue":"6","first_page":"6987","last_page":"6999"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7127662897109985},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47641122341156006},{"id":"https://openalex.org/keywords/vehicular-ad-hoc-network","display_name":"Vehicular ad hoc network","score":0.4698435664176941},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.43493399024009705},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4284115731716156},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.42572927474975586},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3898048996925354},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3295735716819763},{"id":"https://openalex.org/keywords/wireless-ad-hoc-network","display_name":"Wireless ad hoc network","score":0.3122706711292267},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.23516997694969177},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.14057379961013794}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7127662897109985},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47641122341156006},{"id":"https://openalex.org/C192448918","wikidata":"https://www.wikidata.org/wiki/Q682677","display_name":"Vehicular ad hoc network","level":4,"score":0.4698435664176941},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.43493399024009705},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4284115731716156},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.42572927474975586},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3898048996925354},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3295735716819763},{"id":"https://openalex.org/C94523657","wikidata":"https://www.wikidata.org/wiki/Q4085781","display_name":"Wireless ad hoc network","level":3,"score":0.3122706711292267},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.23516997694969177},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.14057379961013794},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2023.3236978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3236978","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/22199041","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/ROS-based_Collaborative_Driving_Framework_in_Autonomous_Vehicular_Networks/22199041","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/22199041","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/ROS-based_Collaborative_Driving_Framework_in_Autonomous_Vehicular_Networks/22199041","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1420883908","display_name":null,"funder_award_id":"LP190100594","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G2305141385","display_name":null,"funder_award_id":"62171352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1512812209","https://openalex.org/W1773147368","https://openalex.org/W2016797155","https://openalex.org/W2038007012","https://openalex.org/W2118060203","https://openalex.org/W2137775453","https://openalex.org/W2234862916","https://openalex.org/W2235987128","https://openalex.org/W2412031411","https://openalex.org/W2606894850","https://openalex.org/W2761125797","https://openalex.org/W2917137066","https://openalex.org/W2963536698","https://openalex.org/W2963927517","https://openalex.org/W2964298328","https://openalex.org/W2967368565","https://openalex.org/W2991220003","https://openalex.org/W3011423849","https://openalex.org/W3012098308","https://openalex.org/W3016931720","https://openalex.org/W3024554844","https://openalex.org/W3048223535","https://openalex.org/W3084946630","https://openalex.org/W3105675137","https://openalex.org/W3112897671","https://openalex.org/W3132155534","https://openalex.org/W3132370151","https://openalex.org/W3158395156","https://openalex.org/W3169007304","https://openalex.org/W3171155492","https://openalex.org/W3176231977","https://openalex.org/W3177712125","https://openalex.org/W4213286046","https://openalex.org/W4250589301","https://openalex.org/W4253935083","https://openalex.org/W4301852635","https://openalex.org/W6637876568"],"related_works":["https://openalex.org/W2027636740","https://openalex.org/W2062688728","https://openalex.org/W2061231656","https://openalex.org/W2771454953","https://openalex.org/W4231650586","https://openalex.org/W3046762796","https://openalex.org/W3202102306","https://openalex.org/W4327774248","https://openalex.org/W2998294818","https://openalex.org/W3046260513"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,25,70,101,105,144,149,160,171,178,185,190,194,209,216,226,241,246],"optimal":[4,210],"data":[5,73,96,119,146,250],"transmission":[6,128],"for":[7,40,52,121],"collaborative":[8],"driving":[9],"in":[10,55,104,148,181,229,263],"autonomous":[11,41],"vehicular":[12,153],"networks":[13],"(AVNs).":[14],"We":[15],"consider":[16],"that":[17,74,257],"vehicles":[18,42,57,103],"communicate":[19],"with":[20,80,112],"each":[21,200],"other":[22],"based":[23],"on":[24,199],"definition":[26],"of":[27,177],"Robot":[28],"Operating":[29],"System":[30],"(ROS),":[31],"which":[32,56,168],"is":[33,67,140],"a":[34,49,65,75,134,136,230],"pervasively":[35],"adopted":[36],"middleware":[37],"operating":[38],"system":[39],"such":[43],"as":[44,164],"Baidu":[45],"Apollo.":[46],"ROS":[47],"defines":[48],"publish/subscribe":[50,162],"scheme":[51,163],"inter-vehicular":[53],"communications,":[54],"subscribe":[58],"to":[59,69,78,142,192,224,233],"\u201ctopics\u201d":[60],"published":[61],"by":[62,245],"adjacent":[63],"vehicles;":[64],"\u201ctopic\u201d":[66],"related":[68],"real-time":[71],"sensing/computing":[72],"vehicle":[76],"intends":[77],"share":[79],"nearby":[81],"neighbors,":[82],"<italic":[83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">e.g.</i>":[85],",":[86],"radar":[87],"or":[88],"camera":[89],"images":[90],"captured.":[91],"By":[92,183,214],"sharing":[93],"various":[94],"sensing":[95],"using":[97],"different":[98,122],"topics":[99,123],"at":[100],"real-time,":[102],"same":[106],"area":[107],"therefore":[108],"can":[109],"collaboratively":[110],"drive":[111],"cooperative":[113],"perception":[114],"and":[115,151,174,196,206,238,249],"computing.":[116],"However,":[117],"multiple":[118],"flows":[120,147],"would":[124],"coexist":[125],"along":[126],"overlapping":[127],"paths":[129],"during":[130],"this":[131,156],"process.":[132],"As":[133],"result,":[135],"fundamental":[137],"issue":[138],"raised":[139],"how":[141],"schedule":[143],"contending":[145],"mobile":[150],"bandwidth-constrained":[152],"networks.":[154],"In":[155],"paper,":[157],"we":[158,188,221,255],"model":[159,191,228],"ROS-based":[161],"an":[165],"optimization":[166,227],"problem":[167],"jointly":[169],"considers":[170],"power":[172,195],"allocation":[173,212],"conflict":[175,219],"avoidance":[176],"communication":[179],"process":[180],"AVNs.":[182],"applying":[184],"Lyapunov":[186],"Optimization,":[187],"decompose":[189],"calculate":[193],"sub-carrier":[197],"proportion":[198],"node":[201],"while":[202],"avoiding":[203],"link":[204,218,236,247],"conflicts,":[205,237],"finally":[207],"obtain":[208],"resource":[211,242,264],"strategy.":[213],"combining":[215],"corresponding":[217],"constraints,":[220],"are":[222],"able":[223],"encapsulate":[225],"stable":[231],"set":[232],"efficiently":[234],"avoid":[235],"thereby":[239],"reduce":[240],"waste":[243],"caused":[244],"interference":[248],"flow":[251],"conflicts.":[252],"Using":[253],"simulations,":[254],"show":[256],"our":[258],"method":[259],"has":[260],"good":[261],"advantages":[262],"optimization.":[265]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}