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RUBICONe: Wireless RAFT-Unified Behaviors for Intervehicular Cooperative Operations and Negotiations

Zhenghua Hu, Tairan Dan, Zeyu Tao, Jiacheng Qian, Amedeo Morat, Lorenzo Romano, Alessandro Massafra, Hao Xu

Abstract

Just as Caesar declared "alea iacta est" (the die is cast) upon crossing the Rubicone river, lane change decisions in autonomous vehicles also represent critical points of no return. RUBICONe addresses this challenge by recognizing that lane change decision-making relying solely on a single vehicle's perception would be as precarious as crossing an unknown river alone. By implementing a distributed consensus framework that extends the RAFT algorithm with wireless connectivity, RUBICONe enables multiple vehicles to collectively process and aggregate their perceptions. Using multiple software-defined radio (SDR) devices as the experimental platform, this study demonstrates how consensus-based decision-making significantly reduces the impact of environmental interference and mitigates the risk of misjudgments by individual vehicles. Just as crossing the Rubicone marked a point of irrevocable action backed by collective intelligence, RUBICONe ensures that lane change decisions are made with comprehensive situational awareness and distributed consensus, showcasing the reliability gain of consensus in wireless communications.

RUBICONe: Wireless RAFT-Unified Behaviors for Intervehicular Cooperative Operations and Negotiations

Abstract

Just as Caesar declared "alea iacta est" (the die is cast) upon crossing the Rubicone river, lane change decisions in autonomous vehicles also represent critical points of no return. RUBICONe addresses this challenge by recognizing that lane change decision-making relying solely on a single vehicle's perception would be as precarious as crossing an unknown river alone. By implementing a distributed consensus framework that extends the RAFT algorithm with wireless connectivity, RUBICONe enables multiple vehicles to collectively process and aggregate their perceptions. Using multiple software-defined radio (SDR) devices as the experimental platform, this study demonstrates how consensus-based decision-making significantly reduces the impact of environmental interference and mitigates the risk of misjudgments by individual vehicles. Just as crossing the Rubicone marked a point of irrevocable action backed by collective intelligence, RUBICONe ensures that lane change decisions are made with comprehensive situational awareness and distributed consensus, showcasing the reliability gain of consensus in wireless communications.
Paper Structure (13 sections, 6 figures, 1 table)

This paper contains 13 sections, 6 figures, 1 table.

Table of Contents

  1. Introduction
  2. System Model
  3. RUBICONe: The Algorithm
  4. System Organization
  5. Fusion Consensus Protocol
  6. Evaluation Model
  7. Evaluations and Experiments
  8. Experimental Setup and Design
  9. Result Analysis
  10. System Scale vs. SNR
  11. System Reliability vs. Node Scale and Individual Node Reliability
  12. Discussion
  13. Conclusion

Figures (6)

  • Figure 1: Lane-change decisions in RUBICONe.
  • Figure 2: Experimental equipment of MicroPhase ANTSDR devices.
  • Figure 3: Variation of effective cluster size with leader received SNR under different initial node counts ($N=4$ and $N=6$).
  • Figure 4: $P_{\text{sys}}$ as a function of $p_{\text{node}}$ for different cluster sizes ($N$ = 1, 3, 5, 7, 9, 11), simulated using the consensus reliability model.
  • Figure 5: Measured and theoretical system reliability under high-quality channel conditions (SNR = 14 dB) for cluster sizes $N$ = 1, 3, and 6.
  • ...and 1 more figures