Vehicular localization and Intelligent Transportation Systems

We present a Swarm Logic based approach to vehicular localization and inter-vehicular communication using a distributed computing environment. Our work is towards the development of an application for the DSRC framework (Dedicated Short Range Communication for Inter-Vehicular Communication) by US Department of Traffic and DARPA (Defense Advanced Research Projects Agency) and European Commission- funded Project SAVE-U (Sensors and System Architecture for Vulnerable road Users Protection) and is a step towards Intelligent Transportation Systems such as Autonomous Unmanned Ground and Aerial Vehicular systems. The application depends on recursively obtained sensor readings in a feedback loop mode for processing and deploying a corrective action based on Model Predictive approach that exploits non-linear functions of the state and finds control inputs such as state of system, position, acceleration, peer movement to recursively estimate and improve the quality of resulting estimation for collision avoidance and target localization. The problem addresses is not only restricted to localization of target but to control a formation of robots in a cluttered indeterminist environment.