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General-purpose motion planners for automated/autonomous vehicles promise to handle the task of motion planning (including tactical decision-making and trajectory generation) for various automated driving functions (ADF) in a diverse range of operational design domains (ODDs). The challenges of designing a general-purpose motion planner arise from several factors: a) A plethora of scenarios with different semantic information in each driving scene should be addressed, b) a strong coupling between long-term decision-making and short-term trajectory generation shall be taken into account, c) the nonholonomic constraints of the vehicle dynamics must be considered, and d) the motion planner must be computationally efficient to run in real-time. The existing methods in the literature are either limited to specific scenarios (logic-based) or are data-driven (learning-based) and therefore lack explainability, which is important for safety-critical automated driving systems (ADS). This paper proposes a novel general-purpose motion planning solution for ADS inspired by the theory of fluid mechanics. A computationally efficient technique, i.e., the lattice Boltzmann method, is then adopted to generate a spatiotemporal vector field, which in accordance with the nonholonomic dynamic model of the Ego vehicle is employed to generate feasible candidate trajectories. The trajectory optimising ride quality, efficiency and safety is finally selected to calculate the imminent control signals, i.e., throttle/brake and steering angle. The performance of the proposed approach is evaluated by simulations in highway driving, on-ramp merging, and intersection crossing scenarios, and it is found to outperform traditional motion planning solutions based on model predictive control (MPC).

Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially designed for specific Automated Driving Functions (ADFs), yet the evolving landscape of highly automated driving systems (ADS) requires motion for a wide range of ADFs, including unforeseen ones. This need has motivated the development of the ``hybrid" approach in the literature, seeking to enhance motion planning performance by combining diverse techniques, such as data-driven (learning-based) and logic-driven (analytic) methodologies. Recent research endeavours have significantly contributed to the development of more efficient, accurate, and safe hybrid methods for Tactical Decision Making (TDM) and Trajectory Generation (TG), as well as integrating these algorithms into the motion planning module. Owing to the extensive variety and potential of hybrid methods, a timely and comprehensive review of the current literature is undertaken in this survey article. We classify the hybrid motion planners based on the types of components they incorporate, such as combinations of sampling-based with optimization-based/learning-based motion planners. The comparison of different classes is conducted by evaluating the addressed challenges and limitations, as well as assessing whether they focus on TG and/or TDM. We hope this approach will enable the researchers in this field to gain in-depth insights into the identification of current trends in hybrid motion planning and shed light on promising areas for future research.

The deep neural network (DNN) models are widely used for object detection in automated driving systems (ADS). Yet, such models are prone to errors which can have serious safety implications. Introspection and self-assessment models that aim to detect such errors are therefore of paramount importance for the safe deployment of ADS. Current research on this topic has focused on techniques to monitor the integrity of the perception mechanism in ADS. Existing introspection models in the literature, however, largely concentrate on detecting perception errors by assigning equal importance to all parts of the input data frame to the perception module. This generic approach overlooks the varying safety significance of different objects within a scene, which obscures the recognition of safety-critical errors, posing challenges in assessing the reliability of perception in specific, crucial instances. Motivated by this shortcoming of state of the art, this paper proposes a novel method integrating raw activation patterns of the underlying DNNs, employed by the perception module, analysis with spatial filtering techniques. This novel approach enhances the accuracy of runtime introspection of the DNN-based 3D object detections by selectively focusing on an area of interest in the data, thereby contributing to the safety and efficacy of ADS perception self-assessment processes., Comment: Submitted to ITSC 2024. arXiv admin note: text overlap with arXiv:2404.07685

While Deep Reinforcement Learning (DRL) has emerged as a promising solution for intricate control tasks, the lack of explainability of the learned policies impedes its uptake in safety-critical applications, such as automated driving systems (ADS). Counterfactual (CF) explanations have recently gained prominence for their ability to interpret black-box Deep Learning (DL) models. CF examples are associated with minimal changes in the input, resulting in a complementary output by the DL model. Finding such alternations, particularly for high-dimensional visual inputs, poses significant challenges. Besides, the temporal dependency introduced by the reliance of the DRL agent action on a history of past state observations further complicates the generation of CF examples. To address these challenges, we propose using a saliency map to identify the most influential input pixels across the sequence of past observed states by the agent. Then, we feed this map to a deep generative model, enabling the generation of plausible CFs with constrained modifications centred on the salient regions. We evaluate the effectiveness of our framework in diverse domains, including ADS, Atari Pong, Pacman and space-invaders games, using traditional performance metrics such as validity, proximity and sparsity. Experimental results demonstrate that this framework generates more informative and plausible CFs than the state-of-the-art for a wide range of environments and DRL agents. In order to foster research in this area, we have made our datasets and codes publicly available at https://github.com/Amir-Samadi/SAFE-RL.

Monitoring the integrity of object detection for errors within the perception module of automated driving systems (ADS) is paramount for ensuring safety. Despite recent advancements in deep neural network (DNN)-based object detectors, their susceptibility to detection errors, particularly in the less-explored realm of 3D object detection, remains a significant concern. State-of-the-art integrity monitoring (also known as introspection) mechanisms in 2D object detection mainly utilise the activation patterns in the final layer of the DNN-based detector's backbone. However, that may not sufficiently address the complexities and sparsity of data in 3D object detection. To this end, we conduct, in this article, an extensive investigation into the effects of activation patterns extracted from various layers of the backbone network for introspecting the operation of 3D object detectors. Through a comparative analysis using Kitti and NuScenes datasets with PointPillars and CenterPoint detectors, we demonstrate that using earlier layers' activation patterns enhances the error detection performance of the integrity monitoring system, yet increases computational complexity. To address the real-time operation requirements in ADS, we also introduce a novel introspection method that combines activation patterns from multiple layers of the detector's backbone and report its performance., Comment: Accepted by CVPR 2024 Workshop on Safe Autonomy for All Domains (SAIAD)

Reliable detection of various objects and road users in the surrounding environment is crucial for the safe operation of automated driving systems (ADS). Despite recent progresses in developing highly accurate object detectors based on Deep Neural Networks (DNNs), they still remain prone to detection errors, which can lead to fatal consequences in safety-critical applications such as ADS. An effective remedy to this problem is to equip the system with run-time monitoring, named as introspection in the context of autonomous systems. Motivated by this, we introduce a novel introspection solution, which operates at the frame level for DNN-based 2D object detection and leverages neural network activation patterns. The proposed approach pre-processes the neural activation patterns of the object detector's backbone using several different modes. To provide extensive comparative analysis and fair comparison, we also adapt and implement several state-of-the-art (SOTA) introspection mechanisms for error detection in 2D object detection, using one-stage and two-stage object detectors evaluated on KITTI and BDD datasets. We compare the performance of the proposed solution in terms of error detection, adaptability to dataset shift, and, computational and memory resource requirements. Our performance evaluation shows that the proposed introspection solution outperforms SOTA methods, achieving an absolute reduction in the missed error ratio of 9% to 17% in the BDD dataset., Comment: Submitted to IEEE Transactions on Intelligent Vehicles. 15 pages, 7 figures, 11 tables

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion prediction exhibit significant performance degradation as the prediction horizon increases or the observation window decreases. This paper proposes a novel technique for trajectory prediction that combines a data-driven learning-based method with a velocity vector field (VVF) generated from a nature-inspired concept, i.e., fluid flow dynamics. In this work, the vector field is incorporated as an additional input to a convolutional-recurrent deep neural network to help predict the most likely future trajectories given a sequence of bird's eye view scene representations. The performance of the proposed model is compared with state-of-the-art methods on the HighD dataset demonstrating that the VVF inclusion improves the prediction accuracy for both short and long-term (5~sec) time horizons. It is also shown that the accuracy remains consistent with decreasing observation windows which alleviates the requirement of a long history of past observations for accurate trajectory prediction. Source codes are available at: https://github.com/Amir-Samadi/VVF-TP., Comment: This paper has been accepted and nominated as the best student paper at the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)

A CF explainer identifies the minimum modifications in the input that would alter the model's output to its complement. In other words, a CF explainer computes the minimum modifications required to cross the model's decision boundary. Current deep generative CF models often work with user-selected features rather than focusing on the discriminative features of the black-box model. Consequently, such CF examples may not necessarily lie near the decision boundary, thereby contradicting the definition of CFs. To address this issue, we propose in this paper a novel approach that leverages saliency maps to generate more informative CF explanations. Source codes are available at: https://github.com/Amir-Samadi//Saliency_Aware_CF., Comment: This paper is accepted at the 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023)

Accurate trajectory prediction of nearby vehicles is crucial for the safe motion planning of automated vehicles in dynamic driving scenarios such as highway merging. Existing methods cannot initiate prediction for a vehicle unless observed for a fixed duration of two or more seconds. This prevents a fast reaction by the ego vehicle to vehicles that enter its perception range, thus creating safety concerns. Therefore, this paper proposes a novel transformer-based trajectory prediction approach, specifically trained to handle any observation length larger than one frame. We perform a comprehensive evaluation of the proposed method using two large-scale highway trajectory datasets, namely the highD and exiD. In addition, we study the impact of the proposed prediction approach on motion planning and control tasks using extensive merging scenarios from the exiD dataset. To the best of our knowledge, this marks the first instance where such a large-scale highway merging dataset has been employed for this purpose. The results demonstrate that the prediction model achieves state-of-the-art performance on highD dataset and maintains lower prediction error w.r.t. the constant velocity across all observation lengths in exiD. Moreover, it significantly enhances safety, comfort, and efficiency in dense traffic scenarios, as compared to the constant velocity model., Comment: 8 page, 7 figures, submitted to IEEE ITSC 2023

Deep Reinforcement Learning (DRL) has demonstrated promising capability in solving complex control problems. However, DRL applications in safety-critical systems are hindered by the inherent lack of robust verification techniques to assure their performance in such applications. One of the key requirements of the verification process is the development of effective techniques to explain the system functionality, i.e., why the system produces specific results in given circumstances. Recently, interpretation methods based on the Counterfactual (CF) explanation approach have been proposed to address the problem of explanation in DRLs. This paper proposes a novel CF explanation framework to explain the decisions made by a black-box DRL. To evaluate the efficacy of the proposed explanation framework, we carried out several experiments in the domains of automated driving systems and Atari Pong game. Our analysis demonstrates that the proposed framework generates plausible and meaningful explanations for various decisions made by deep underlying DRLs. Source codes are available at: \url{https://github.com/Amir-Samadi/Counterfactual-Explanation}

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain future behaviour of vehicles, multiple future behaviour modes are often plausible for a vehicle in a given driving scene. Therefore, multimodal prediction can provide richer information than single-mode prediction, enabling AVs to perform a better risk assessment. To this end, we propose a novel multimodal prediction framework that can predict multiple plausible behaviour modes and their likelihoods. The proposed framework includes a bespoke problem formulation for manoeuvre prediction, a novel transformer-based prediction model, and a tailored training method for multimodal manoeuvre and trajectory prediction. The performance of the framework is evaluated using three public highway driving datasets, namely NGSIM, highD, and exiD. The results show that our framework outperforms the state-of-the-art multimodal methods in terms of prediction error and is capable of predicting plausible manoeuvre and trajectory modes., Comment: 8 pages, 3 figures, submitted to IEEE RAL

In this paper, we consider a Cox point process driven by the Manhattan Poisson line process. We calculate the exact cumulative distribution function (CDF) of the path distance (L1 norm) between a randomly selected intersection and the $k$-th nearest node of the Cox process. The CDF is expressed as a sum over the integer partition function $p\!\left(k\right)$, which allows us to numerically evaluate the CDF in a simple manner for practical values of $k$. These distance distributions can be used to study the $k$-coverage of broadcast signals transmitted from a \ac{RSU} located at an intersection in intelligent transport systems (ITS). Also, they can be insightful for network dimensioning in vehicle-to-everything (V2X) systems, because they can yield the exact distribution of network load within a cell, provided that the \ac{RSU} is placed at an intersection. Finally, they can find useful applications in other branches of science like spatial databases, emergency response planning, and districting. We corroborate the applicability of our distance distribution model using the map of an urban area.

In this paper, we compute the expected number of vehicles with at least one two-hop path to a fixed roadside unit (RSU) in a multi-hop, one-dimensional vehicular ad hoc network (VANET) where other cars can act as relays. The pairwise channels experience Rayleigh fading in the random connection model, and so exist, with a probability given by a function of the mutual distance between the cars, or between the cars and the RSU. We derive exact expressions for the expected number of cars with a two-hop connection to the RSU when the car density $\rho$ tends to zero and infinity, and determine its behaviour using an infinite oscillating power series in $\rho$, which is accurate for all regimes of traffic density. We also corroborate those findings with a realistic scenario, using snapshots of actual traffic data. Finally, a normal approximation is discussed for the probability mass function of the number of cars with a two-hop connection to the RSU., Comment: 5 pages, 5 figures

The Poisson bipolar model considers user-base station pairs distributed at random on a flat domain, similar to matchsticks scattered onto a table. Though this is a simple and tractable setting in which to study dense networks, it doesn't properly characterise the stochastic geometry of user-base station interactions in some dense deployment scenarios, which may involve short and long range links, with some paired very nearby optimally, and others sub-optimally due to local crowding. Since the users will pair one-to-one with base stations, we can consider using the popular bipartite Euclidean matching (BEM) from spatial combinatorics, and study the corresponding (meta) distribution of the signal-to-interference-ratio (SIR). This provides detailed information about the proportion of links in the network meeting a target reliability constraint. We can then observe via comparison the impact of taking into account the variable/correlated short-range distances between the transmitter-receiver pairs on the communication statistics. We illustrate and quantify how the widely-accepted bipolar model fails to capture the network-wide reliability of communication in a typical ultra-dense setting based on a binomial point process. We also show how assuming a Gamma distribution for link distances may be a simple improvement on the bipolar model. Overall, BEMs provide good grounds for understanding more sophisticated pairing features in ultra-dense networks., Comment: 6 pages, 4 figures, submitted to the 10th International Workshop on Research Advancements in Future Networking Technologies (RAFNET) at IEEE ICC 2022, Seoul, Republic of Korea

The meta distribution of the signal-to-interference-ratio (SIR) is an important performance indicator for wireless networks because, for ergodic point processes, it describes the fraction of scheduled links that achieve certain reliability, conditionally on the point process. The calculation of the moments of the meta distribution requires the probability generating functional (PGFL) of the point process. In vehicular ad hoc networks (VANETs) along high-speed motorways, the Poisson point process (PPP) is a poor deployment model, because the drivers, due to the high speeds, maintain large safety distances. In this paper, we model the distribution of inter-vehicle distance equal to the sum of a constant hardcore distance and an exponentially distributed random variable. We design a novel \emph{discretization model} for the locations of vehicles which can be used to approximate well the PGFL due to the hardcore point process and the meta distribution of the SIR generated from synthetic motorway traces. On the other hand, the PPP overestimates significantly the coefficient-of-variation of the meta distribution due to the hardcore process, and its predictions fail. In addition, we show that the calculation of the meta distribution becomes especially meaningful in the upper tail of the SIR distribution., Comment: to be published

In this paper we analyze synthetic mobility traces generated for three-lane unidirectional motorway traffic to find that the locations of vehicles along a lane are better modeled by a hardcore point process instead of the widely-accepted Poisson point process (PPP). In order to capture the repulsion between successive vehicles while maintaining a level of analytical tractability, we make a simple extension to PPP: We model the inter-vehicle distance along a lane equal to the sum of a constant hardcore distance and an exponentially distributed random variable. We calculate the J-function and the Ripley's K-function for this hardcore point process. We fit its parameters to the available traces, and we illustrate that the higher the average speed along a lane, the more prominent the hardcore component becomes. In addition, we consider a transmitter-receiver link on the same lane, and we generate simple formulae for the moments of interference under reduced Palm measure for that lane, and without conditioning for other lanes. We illustrate that under Rayleigh fading a shifted-gamma approximation for the distribution of interference per lane provides a very good fit to the simulated outage probability using the synthetic traces, while the fit using the PPP is poor., Comment: to be published

The Poisson point process (PPP) is not always a realistic model for the locations of vehicles along a road, because it does not account for the safety distance a driver maintains from the vehicle ahead. In this paper, we model the inter-vehicle distance equal to the sum of a constant hardcore distance and a random distance following the exponential distribution. Unfortunately, the probability generating functional of this point process is unknown. To approximate the Laplace transform of interference at the origin, we devise simple approximations for the variance and skewness of interference, and we select suitable probability functions to model the interference distribution. When the coefficient-of-variation and the skewness of interference distribution are high, the PPP (of equal intensity) approximation of the outage probability becomes loose in the upper tail. Relevant scenarios are associated with urban microcells and highway macrocells with a low density of vehicles. The predictions of PPP deteriorate with a multi-antenna maximum ratio combining receiver and temporal indicators related to the performance of retransmission schemes. Our approximations generate good predictions in all considered cases.

We consider a one-dimensional vehicular network where the time headway (time difference between successive vehicles as they pass a point on the roadway) follows the shifted-exponential distribution. We show that neglecting the impact of shift in the deployment model, which degenerates the distribution of vehicles to a Poisson Point Process, overestimates the temporal correlation of interference at the origin. The estimation error becomes large at high traffic conditions and small time-lags., Comment: 4 pages, 4 figures

Interference statistics in vehicular networks have long been studied using the Poisson Point Process (PPP) for the locations of vehicles. In roads with few number of lanes and restricted overtaking, this model becomes unrealistic because it assumes that the vehicles can come arbitrarily close to each other. In this paper, we model the headway distance (the distance between the head of a vehicle and the head of its follower) equal to the sum of a constant hardcore distance and an exponentially distributed random variable. We study the mean, the variance and the skewness of interference at the origin with this deployment model. Even though the pair correlation function becomes complicated, we devise simple formulae to capture the impact of hardcore distance on the variance of interference in comparison with a PPP model of equal intensity. In addition, we study the extreme scenario where the interference originates from a lattice. We show how to relate the variance of interference due to a lattice to that of a PPP under Rayleigh fading., Comment: 12 pages

In this paper, we study the receiver performance with physical layer security in a Poisson field of interferers. We compare the performance in two deployment scenarios: (i) the receiver is located at the corner of a quadrant, (ii) the receiver is located in the infinite plane. When the channel state information (CSI) of the eavesdropper is not available at the transmitter, we calculate the probability of secure connectivity using the Wyner coding scheme, and we show that hiding the receiver at the corner is beneficial at high rates of the transmitted codewords and detrimental at low transmission rates. When the CSI is available, we show that the average secrecy capacity is higher when the receiver is located at the corner, even if the intensity of interferers in this case is four times higher than the intensity of interferers in the bulk. Therefore boundaries can also be used as a secrecy enhancement technique for high data rate applications., Comment: to be published

Poisson Voronoi tessellations have been used in modeling many types of systems across different sciences, from geography and astronomy to telecommunications. The existing literature on the statistical properties of Poisson Voronoi cells is vast, however, little is known about the properties of Voronoi cells located close to the boundaries of a compact domain. In a domain with boundaries, some Voronoi cells would be naturally clipped by the boundary, and the cell area falling inside the deployment domain would have different statistical properties as compared to those of non-clipped Voronoi cells located in the bulk of the domain. In this paper, we consider the planar Voronoi tessellation induced by a homogeneous Poisson point process of intensity $\lambda\!>\!0$ in a quadrant, where the two half-axes represent boundaries. We show that the mean cell area is less than $\lambda^{-1}$ when the seed is located exactly at the boundary, and it can be larger than $\lambda^{-1}$ when the seed lies close to the boundary. In addition, we calculate the second moment of cell area at two locations for the seed: (i) at the corner of a quadrant, and (ii) at the boundary of the half-plane. We illustrate that the two-parameter Gamma distribution, with location-dependent parameters calculated using the method of moments, can be of use in approximating the distribution of cell area. As a potential application, we use the Gamma approximations to study the degree distribution for secure connectivity in wireless sensor networks deployed over a domain with boundaries., Comment: to be published

The business potential of device-to-device (D2D) communication including public safety and vehicular communications will be realized only if direct communication between devices subscribed to different mobile operators (OPs) is supported. One possible way to implement inter-operator D2D communication may use the licensed spectrum of the OPs, i.e., OPs agree to share spectrum in a co-primary manner, and inter-operator D2D communication is allocated over spectral resources contributed from both parties. In this paper, we consider a spectrum sharing scenario where a number of OPs construct a spectrum pool dedicated to support inter-operator D2D communication. OPs negotiate in the form of a non-cooperative game about how much spectrum each OP contributes to the spectrum pool. OPs submit proposals to each other in parallel until a consensus is reached. When every OP has a concave utility function on the box-constrained region, we identify the conditions guaranteeing the existence of a unique equilibrium point. We show that the iterative algorithm based on the OP's best response might not converge to the equilibrium point due to myopically overreacting to the response of the other OPs, while the Jacobi-play strategy update algorithm can converge with an appropriate selection of update parameter. Using the Jacobi-play update algorithm, we illustrate that asymmetric OPs contribute an unequal amount of resources to the spectrum pool; However all participating OPs may experience significant performance gains compared to the scheme without spectrum sharing., Comment: Accepted to appear in IEEE Journal on Selected Areas in Communications (JSAC)

In this letter, we study the joint impact of user density, blockage density and deployment area on the temporal correlation of interference for static and highly mobile users. We show that even if the user locations become uncorrelated, the interference level can still be correlated when the deployment area is bounded and/or there is blockage. In addition, we study how the correlation coefficients of interference scale at a high density of blockage.

In practice, wireless networks are deployed over finite domains, the level of mobility is different at different locations, and user mobility is correlated over time. All these features have an impact on the temporal properties of interference which is often neglected. In this paper, we show how to incorporate correlated user mobility into the interference and outage correlation models. We use the random waypoint mobility model over a bounded one-dimensional domain as an example model inducing correlation, and we calculate its displacement law at different locations. Based on that, we illustrate that the temporal correlations of interference and outage are location-dependent, being lower close to the centre of the domain, where the level of mobility is higher than near the boundary. Close to the boundary, more time is also needed to see uncorrelated interference. Our findings suggest that an accurate description of the mobility pattern is important, because it leads to more accurate understanding/modeling of interference and receiver performance.

In mobile wireless networks with blockage, different users, and/or a single user at different time slots, may be blocked by some common obstacles. Therefore the temporal correlation of interference does not depend only on the user displacement law but also on the spatial correlation introduced by the obstacles. In this letter, we show that in mobile networks with a high density of users, blockage increases the temporal correlation of interference, while in sparse networks blockage has the opposite effect., Comment: 4 pages, 3 figures

In future wireless networks, a significant number of users will be vehicular. One promising solution to improve the capacity for these vehicular users is to employ moving relays or car base stations. The system forms cell inside the vehicle and then uses rooftop antenna for back-hauling to overcome the vehicular penetration loss. In this paper, we develop a model for aggregate interference distribution generated from moving/parked cars to indoor users in order to study whether indoor femto-cells can coexist on the same spectrum with vehicular communications. Since spectrum authorization for vehicular communications is open at moment, we consider two spectrum sharing scenarios (i) communication from mounted antennas on the roof of the vehicles to the infrastructure network utilizes same spectrum with indoor femto-cells (ii) in-vehicle communication utilizes same spectrum with indoor femto-cells while vehicular to infrastructure (V2I) communication is allocated at different spectrum. Based on our findings we suggest that V2I and indoor femto-cells should be allocated at different spectrum. The reason being that mounted roof-top antennas facing the indoor cells generate unacceptable interference levels. On the other hand, in-vehicle communication and indoor cells can share the spectrum thanks to the vehicle body isolation and the lower transmit power levels that can be used inside the vehicle., Comment: 6 pages, 4 figures, 3rd IFAC Symposium on Telematics Applications

Currently, mobile network operators are allocated spectrum bands on an exclusive basis. While this approach facilitates interference control, it may also result in low spectrum utilization efficiency. Inter-operator spectrum sharing is a potential method to enhance spectrum utilization. In order to realize it, a protocol to coordinate the actions of operators is needed. We propose a spectrum sharing protocol which is distributed in nature, it does not require operator-specific information exchange and it incurs minimal communication overhead between the operators. Operators are still free to decide whether they share spectrum or not as the protocol is based on the book keeping of spectrum usage favors, asked and received by the operators. We show that operators can enhance their QoS in comparison with traditional orthogonal spectrum allocation while also maintaining reciprocity i.e. no operator benefits over the other in the long run. We demonstrate the usability of the proposed protocol in an indoor deployment scenario with frequent network load variations as expected to have in small cell deployments., Comment: Published in proceedings of 23rd edition of European Conference on Networks and Communications (EuCNC), Bologna, Jun. 2014

We consider spectrum sharing between a limited set of operators having similar rights for accessing spectrum. A coordination protocol acting on the level of the Radio Access Network (RAN) is designed. The protocol is non-cooperative, but assumes an agreement to a set of negotiation rules. The signaling overhead is low, and knowledge of competitor's channel state information is not assumed. No monetary transactions are involved; instead, spectrum sharing is based on a RAN-internal virtual currency. The protocol is applicable in a scenario of mutual renting and when the operators form a spectrum pool. The protocol is reactive to variations in interference and load of the operators, and shows gains in a simulated small cell scenario compared to not using any coordination protocol., Comment: To be published in IEEE Communications Magazine, Jul. 2015

We consider two small cell operators deployed in the same geographical area, sharing spectrum resources from a common pool. A method is investigated to coordinate the utilization of the spectrum pool without monetary transactions and without revealing operator-specific information to other parties. For this, we construct a protocol based on asking and receiving spectrum usage favors by the operators, and keeping a book of the favors. A spectrum usage favor is exchanged between the operators if one is asking for a permission to use some of the resources from the pool on an exclusive basis, and the other is willing to accept that. As a result, the proposed method does not force an operator to take action. An operator with a high load may take spectrum usage favors from an operator that has few users to serve, and it is likely to return these favors in the future to show a cooperative spirit and maintain reciprocity. We formulate the interactions between the operators as a repeated game and determine rules to decide whether to ask or grant a favor at each stage game. We illustrate that under frequent network load variations, which are expected to be prominent in small cell deployments, both operators can attain higher user rates as compared to the case of no coordination of the resource utilization., Comment: To be published in proceedings of IEEE International Conference on Communications (ICC) at London, Jun. 2015

In order to harvest the business potential of device-to-device (D2D) communication, direct communication between devices subscribed to different mobile operators should be supported. This would also support meeting requirements resulting from D2D relevant scenarios, like vehicle-to-vehicle communication. In this paper, we propose to allocate the multi-operator D2D communication over dedicated cellular spectral resources contributed from both operators. Ideally, the operators should negotiate about the amount of spectrum to contribute, without revealing proprietary information to each other and/or to other parties. One possible way to do that is to use the sequence of operators' best responses, i.e., the operators make offers about the amount of spectrum to contribute using a sequential updating procedure until reaching consensus. Besides spectrum allocation, we need a mode selection scheme for the multi-operator D2D users. We use a stochastic geometry framework to capture the impact of mode selection on the distribution of D2D users and assess the performance of the best response iteration algorithm. With the performance metrics considered in the paper, we show that the best response iteration has a unique Nash equilibrium that can be reached from any initial strategy. In general, asymmetric operators would contribute unequal amounts of spectrum for multi-operator D2D communication. Provided that the multi-operator D2D density is not negligible, we show that both operators may experience significant performance gains as compared to the scheme without spectrum sharing., Comment: To appear in IEEE ICC 2015