---
_id: '66215'
abstract:
- lang: eng
  text: In the near future, the development of autonomous driving will get more complex
    as the vehicles will not only rely on their own sensors but also communicate with
    other vehicles and the infrastructure to cooperate and improve the driving experience.
    Towards this, several research areas, such as robotics, communication, and control,
    are required to collaborate in order to implement future-ready methods. However,
    each area focuses on the development of its own components first, while the effects
    the components may have on the whole system are only considered at a later stage.
    In this work, we integrate the simulation tools of robotics, communication and
    control namely ROS2, OMNeT++, and MATLAB to evaluate cooperative driving scenarios.
    The framework can be utilized to develop the individual components using the designated
    tools, while the final evaluation can be conducted in a complete scenario, enabling
    the simulation of advanced multi-robot applications for cooperative driving. Furthermore,
    it can be used to integrate additional tools, as the integration is done in a
    modular way. We showcase the framework by demonstrating a platooning scenario
    under cooperative adaptive cruise control (CACC) and the ETSI ITS-G5 communication
    architecture. Additionally, we compare the differences of the controller performance
    between the theoretical analysis and practical case study.
citation:
  ama: 'AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
    Navigation. Published online 2022. doi:<a href="https://doi.org/10.48550/ARXIV.2207.05544">10.48550/ARXIV.2207.05544</a>'
  apa: '<i>AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
    Navigation</i>. (2022). <a href="https://doi.org/10.48550/ARXIV.2207.05544">https://doi.org/10.48550/ARXIV.2207.05544</a>'
  bibtex: '@article{AuNa: Modularly Integrated Simulation Framework for Cooperative
    Autonomous Navigation_2022, DOI={<a href="https://doi.org/10.48550/ARXIV.2207.05544">10.48550/ARXIV.2207.05544</a>},
    year={2022} }'
  chicago: '“AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
    Navigation,” 2022. <a href="https://doi.org/10.48550/ARXIV.2207.05544">https://doi.org/10.48550/ARXIV.2207.05544</a>.'
  ieee: '“AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
    Navigation,” 2022, doi: <a href="https://doi.org/10.48550/ARXIV.2207.05544">10.48550/ARXIV.2207.05544</a>.'
  mla: '<i>AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
    Navigation</i>. 2022, doi:<a href="https://doi.org/10.48550/ARXIV.2207.05544">10.48550/ARXIV.2207.05544</a>.'
  short: (2022).
date_created: 2026-07-03T21:20:00Z
date_updated: 2026-07-05T14:46:04Z
doi: 10.48550/ARXIV.2207.05544
status: public
title: 'AuNa: Modularly Integrated Simulation Framework for Cooperative Autonomous
  Navigation'
type: journal_article
user_id: '128464'
year: '2022'
...