. Dans-le-cadre-du-projet-européen and . Hights, H2020-636537), une seconde campagne d'expérimentations, plus complète et propice au test des algorithmes VA-CLoc, a eu lieuà Helmond en fin d'année 2017 (ex. mesures V2V IR-UWB disponibles, topologie VANET variable, fréquence d'émission des CAMs accrue

, A.1 Journal Publications

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, A unified GNSS/ITS-G5/IR-UWB fusion framework for resilient vehicular localization

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Breaking the gridlock of spatial correlation in GPS-aided IEEE 802.11p-based cooperative positioning, IEEE Transactions on Vehicular Technology, Special Issue on Connected Vehicles, vol.65, issue.12, pp.9554-9569, 2016.

I. Khan, G. M. Hoang, and J. Härri, Rethinking cooperative awareness for future V2X safety-critical applications, Proc. IEEE Vehicular Networking Conference, pp.73-76, 2017.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Robust data fusion for cooperative vehicular localization in tunnels, Proc. IEEE Intelligent Vehicles Symposium, pp.1372-1377, 2017.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock,

A. Appendix, Personal List of Publications and Contributions fects in range-based vehicular cooperative localization, Proc. IEEE International Conference on Communications, Workshop on Advances in Network Localization and Navigation, pp.659-664, 2017.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Robust and low complexity Bayesian data fusion for hybrid cooperative vehicular localization, Proc. IEEE International Conference on Communications, pp.1-6, 2017.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Cooperative localization in GNSS-aided VANETs with accurate IR-UWB range measurements, Proc. IEEE Workshop on Positioning, Navigation, and Communications, pp.1-6, 2016.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, On communication aspects of particle-based cooperative localization in GPS-aided VANETs, Proc. IEEE Intelligent Vehicles Symposium, pp.20-25, 2016.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Select thy neighbors: Low complexity link selection for high precision cooperative vehicular localization, Proc. IEEE Vehicular Networking Conference, pp.36-43, 2015.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Distributed link selection and data fusion for cooperative positioning in GPS-aided IEEE 802.11p VANETs, Proc

, IEEE Workshop on Positioning, Navigation, and Communications, pp.1-6, 2015.

, Final platform description, Protocols & facilities, 2018.

, Specifications of implemented cooperative and fusion algorithms, HIGHTS Project Deliverable D6, vol.2, 2017.

, Cooperative localization algorithms and hybrid data fusion schemes, 2017.

, Specifications of implemented cooperative and fusion algorithms, HIGHTS Project Deliverable D6, vol.1, 2016.

, Cooperative localization algorithms and hybrid data fusion schemes, HIGHTS Project Deliverable D5, issue.1, 2016.

M. Hoang, Robust cooperative and communication-friendly localization in vehicular networks, EURECOM, 2016.

, A.5 Poster Presentations (with Proceedings-Entry)

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Robust data fusion for cooperative vehicular localization in tunnels, IEEE Intelligent Vehicles Symposium, 2017.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Cooperative data fusion for GPSaided positioning in IEEE 802.11p VANETs, 2015.

K. Sjoberg, P. Andres, T. Buburuzan, and A. Brakemeier, Cooperative Intelligent Transport Systems in Europe: Current deployment status and outlook, IEEE Vehicular Technology Magazine, vol.12, issue.2, pp.89-97, 2017.

D. Caveney, Cooperative vehicular safety applications, IEEE Control Systems, vol.30, issue.4, pp.38-53, 2010.

A. Festag, Cooperative Intelligent Transport Systems standards in Europe, IEEE Communications Magazine, vol.52, issue.12, pp.166-172, 2014.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Select thy neighbors: Low complexity link selection for high precision cooperative vehicular localization, Proc. IEEE Vehicular Networking Conference, pp.36-43, 2015.

, Breaking the gridlock of spatial correlations in GPS-aided IEEE 802.11p-based cooperative positioning, IEEE Transactions on Vehicular Technology, vol.65, issue.12, pp.9554-9569, 2016.

, On Communication aspects of particle-based cooperative positioning in GPSaided VANETs, Proc. IEEE Intelligent Vehicles Symposium, pp.20-25, 2016.

, Cooperative localization in GNSS-aided VANETs with accurate IR-UWB range measurements, Proc. Workshop on Positioning, Navigation and Communications, pp.1-6, 2016.

, Robust and low complexity Bayesian data fusion for hybrid cooperative vehicular localization, Proc. IEEE International Conference on Communications, pp.1-6, 2017.

, Mitigating unbalanced GDoP effects in range-based vehicular cooperative localization, Proc. IEEE International Conference on Communications Workshops, pp.659-664, 2017.

, Robust data fusion for cooperative vehicular localization in tunnels, Proc. IEEE Intelligent Vehicles Symposium, pp.1372-1377, 2017.

D. Krajzewicz, J. Erdmann, M. Behrisch, and L. Bieker, Recent development and applications of SUMO -Simulation of Urban MObility, International Journal on Advances in Systems and Measurements, vol.5, issue.3 & 4, pp.128-138, 2012.

H. Hartenstein and L. P. Laberteaux, A tutorial survey on vehicular ad hoc networks, IEEE Communications Magazine, vol.46, issue.6, pp.164-171, 2008.

A. Dempster, C-ITS: The future of driving, GNSS Futures Workshop and the Return of the UNSW SNAP Lab, 2014.

. Ahmed-zaid, Vehicle Safety Communications -Applications (VSC-A), Final Report, USDOT, NHTSA, Tech. Rep. DOT HS, vol.811, p.492, 2011.

, Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service, ETSI Std, EN, vol.302, pp.637-639, 2014.

, Use-case related evaluated distance estimation technologies, 2016.

J. B. Kenney, Dedicated short-range communications (DSRC) standards in the United States, Proceedings of the IEEE, vol.99, issue.7, pp.1162-1182, 2011.

F. Qu, F. Y. Wang, and L. Yang, Intelligent transportation spaces: vehicles, traffic, communications, and beyond, IEEE Communications Magazine, vol.48, issue.11, pp.136-142, 2010.

, 5G automotive vision, 2015.

, On-board system requirements for V2V safety communications, SAE Std. J2945/1, 2016.

, IEEE802.11p ahead of LTE-V2V for safety applications, 2017.

T. S. Rappaport, R. W. Heath, R. C. Daniels, and J. N. Murdock, Millimeter wave wireless communications, 2015.

J. Choi, V. Va, N. Gonzalez-prelcic, R. Daniels, C. R. Bhat et al., Millimeter-wave vehicular communication to support massive automotive sensing, IEEE Communications Magazine, vol.54, issue.12, pp.160-167, 2016.

, An Introduction to GNSS: GPS, GLONASS, BeiDou, Galileo and other Global Navigation Satellite Systems, 2015.

E. D. Kaplan and C. J. Hegarty, Understanding GPS: Principles and Applications, 2005.

P. D. Groves, Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, 2013.

S. Gleason and D. Gebre-egziabher, GNSS Applications and Methods, 2009.

G. Sun, J. Chen, W. Guo, and K. J. Liu, Signal processing techniques in networkaided positioning: A survey of state-of-the-art positioning designs, IEEE Signal Processing Magazine, vol.22, issue.4, pp.12-23, 2005.

H. Moussawi, Some signal processing techniques for wireless cooperative localization and tracking, 2012.
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D. Titterton and J. Weston, Strapdown Inertial Navigation Technology, 2004.

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M. Grewal and A. Andrews, How good is your gyro, IEEE Control Systems, vol.30, issue.1, pp.12-86, 2010.

R. , Micromachined angular rate sensors for automotive applications, IEEE Sensors Journal, vol.7, issue.2, pp.302-309, 2007.

I. Skog and P. Handel, In-car positioning and navigation technologies: A survey, IEEE Transactions on Intelligent Transportation Systems, vol.10, issue.1, pp.4-21, 2009.

M. G. Petovello, Real-time integration of a tactical-grade IMU and GPS for highaccuracy positioning and navigation, 2003.

S. Godha, Performance evaluation of low cost MEMS-based IMU integrated with GPS for land vehicle navigation application, 2006.

S. M. Patole, M. Torlak, D. Wang, and M. Ali, Automotive radars: A review of signal processing techniques, IEEE Signal Processing Magazine, vol.34, issue.2, pp.22-35, 2017.

F. De-ponte and . Müller, Survey on ranging sensors and cooperative techniques for relative positioning of vehicles, Sensors, vol.17, issue.2, 2017.

M. Hammarsten and V. Runemalm, 3D localization and mapping using automotive radar, 2016.

E. Ward and J. Folkesson, Vehicle localization with low cost radar sensors, Proc. IEEE Intelligent Vehicles Symposium, pp.864-870, 2016.

M. Cornick, J. Koechling, B. Stanley, and B. Zhang, Localizing ground penetrating RADAR: A step toward robust autonomous ground vehicle localization, Journal of Field Robotics, vol.33, issue.1, pp.82-102, 2016.

A. Amditis, P. Lytrivis, and E. Portouli, Sensing and Actuation in Intelligent Vehicles, Handbook of Intelligent Vehicles, A. Eskandarian, pp.31-60, 2012.

J. Levinson, M. Montemerlo, and S. Thrun, Map-based precision vehicle localization in urban environments, Proc. Robotics: Science and Systems, 2007.

J. Levinson and S. Thrun, Robust vehicle localization in urban environments using probabilistic maps, Proc. IEEE International Conference on Robotics and Automation, pp.4372-4378, 2010.

X. Guo, Feature-based localization methods for autonomous vehicles, 2017.

G. P. Stein, Y. Gdalyahu, and A. Shashua, Stereo-assist: Top-down stereo for driver assistance systems, Proc. IEEE Intelligent Vehicles Symposium, pp.723-730, 2010.

S. Leßmann, M. Meuter, D. Müller, and J. Pauli, Probabilistic distance estimation for vehicle tracking application in monocular vision, Proc. IEEE Intelligent Vehicles Symposium, pp.1199-1204, 2016.

S. Nedevschi, High accuracy stereovision approach for obstacle detection on non-planar roads, Proc. IEEE Intelligent Engineering Systems, pp.211-216, 2014.

D. Nister, O. Naroditsky, and J. Bergen, Visual odometry, Proc. IEEE Conference on Computer Vision and Pattern Recognition, vol.1, pp.652-659, 2004.

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L. Sun, Y. Wu, J. Xu, and Y. Xu, An RSU-assisted localization method in non-GPS highway traffic with dead reckoning and V2R communications, Proc. International Conference on Consumer Electronics, Communications and Networks, pp.149-152, 2012.

, Geolocation referencing sub-system, HIGHTS Project Deliverable D2, vol.2, 2016.

A. Fascista, G. Ciccarese, A. Coluccia, and G. Ricci, A localization algorithm based on V2I communications and AOA estimation, IEEE Signal Processing Letters, vol.24, issue.1, pp.126-130, 2017.

M. Koivisto, A. Hakkarainen, M. Costa, J. Talvitie, K. Heiska et al., Continuous high-accuracy radio positioning of cars in ultra-dense 5G networks, Proc. ACM International Wireless Communications and Mobile Computing Conference, pp.115-120, 2017.

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, Vehicular node localization using received-signal-strength indicator, IEEE Transactions on Vehicular Technology, vol.56, issue.6, pp.3371-3380, 2007.

N. Alam and A. G. Dempster, Cooperative positioning for vehicular networks: facts and future, IEEE Transactions on Intelligent Transportation Systems, vol.14, issue.4, pp.1708-1717, 2013.

J. Yao, A. T. Balaei, M. Hassan, N. Alam, and A. G. Dempster, Improving cooperative positioning for vehicular networks, IEEE Transactions on Vehicular Technology, vol.60, issue.6, pp.2810-2823, 2011.

M. Efatmaneshnik, N. Alam, A. Kealy, and A. G. Dempster, A fast multidimensional scaling filter for vehicular cooperative positioning, Journal of Navigation, vol.65, issue.2, pp.223-243, 2012.

M. Efatmaneshnik, A. T. Balaei, N. Alam, and A. G. Dempster, A modified multidimensional scaling with embedded particle filter algorithm for cooperative positioning of vehicular networks, Proc. IEEE International Conference on Vehicular Electronics and Safety, pp.7-12, 2009.

M. Rohani, D. Gingras, V. Vigneron, and D. Gruyer, A new decentralized Bayesian approach for cooperative vehicle localization based on fusion of GPS and VANET based inter-vehicle distance measurement, IEEE Intelligent Transportation Systems Magazine, vol.7, issue.2, pp.85-95, 2015.
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N. Drawil and O. Basir, Intervehicle-communication-assisted localization, IEEE Transactions on Intelligent Transportation Systems, vol.11, issue.3, pp.678-691, 2010.

N. Alam, A. T. Balaei, and A. G. Dempster, A DSRC Doppler-based cooperative positioning enhancement for vehicular networks with GPS availability, IEEE Transactions on Vehicular Technology, vol.60, issue.9, pp.4462-4470, 2011.

J. Liu, B. G. Cai, and J. Wang, Cooperative localization of connected vehicles: Integrating GNSS with DSRC using a robust cubature Kalman filter, IEEE Transactions on Intelligent Transportation Systems, vol.18, issue.8, pp.2111-2125, 2017.

A. H. Sakr and G. Bansal, Cooperative localization via DSRC and multi-sensor multi-target track association, Proc. IEEE International Conference on Intelligent Transportation Systems, pp.66-71, 2016.

A. Amini, R. M. Vaghefi, J. M. De-la-garza, and R. M. Buehrer, Improving GPSbased vehicle positioning for Intelligent Transportation Systems, Proc. IEEE Intelligent Vehicles Symposium, pp.1023-1029, 2014.

S. B. Cruz, T. E. Abrudan, Z. Xiao, N. Trigoni, and J. Barros, Neighbor-aided localization in vehicular networks, IEEE Transactions on Intelligent Transportation Systems, vol.18, issue.10, pp.2693-2702, 2017.

E. Richter, M. Obst, R. Schubert, and G. Wanielik, Cooperative relative localization using vehicle-to-vehicle communications, Proc. International Conference on Information Fusion, pp.126-131, 2009.

N. Alam, A. T. Balaei, and A. G. Dempster, Relative positioning enhancement in VANETs: A tight integration approach, IEEE Transactions on Intelligent Transportation Systems, vol.14, issue.1, pp.47-55, 2013.

K. Liu, H. B. Lim, E. Frazzoli, H. Ji, and V. C. Lee, Improving positioning accuracy using GPS pseudorange measurements for cooperative vehicular localization, IEEE Transactions on Vehicular Technology, vol.63, issue.6, pp.2544-2556, 2014.

M. Rohani, D. Gingras, and D. Gruyer, Dynamic base station DGPS for cooperative vehicle localization, Proc. International Conference on Connected Vehicles and Expo, pp.781-785, 2014.

K. Lassoued, P. Bonnifait, and I. Fantoni, Cooperative localization with reliable confidence domains between vehicles sharing GNSS pseudoranges errors with no base station, IEEE Intelligent Transportation Systems Magazine, vol.9, issue.1, pp.22-34, 2017.
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N. Mattern, M. Obst, R. Schubert, and G. Wanielik, Co-operative vehicle localization algorithm -Evaluation of the CoVeL approach, Proc. International MultiConference on Systems, Signals and Devices, pp.1-5, 2012.

M. Rohani, D. Gingras, and D. Gruyer, A novel approach for improved vehicular positioning using cooperative map matching and dynamic base station DGPS concept, IEEE Transactions on Intelligent Transportation Systems, vol.17, issue.1, pp.230-239, 2016.
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G. Soatti, M. Nicoli, N. Garcia, B. Denis, R. Raulefs et al., Enhanced vehicle positioning in cooperative ITS by joint sensing of passive features, Proc. IEEE International Conference on Intelligent Transportation Systems, pp.1-6, 2017.

, Cooperative localization algorithms and hybrid data fusion schemes, HIGHTS Project Deliverable D5, issue.1, 2016.

A. Boukerche, H. A. Oliveira, E. F. Nakamura, and A. A. Loureiro, Vehicular ad hoc networks: A new challenge for localization-based systems, Computer Communications, vol.31, issue.12, pp.2838-2849, 2008.

F. Gustafsson, F. Gunnarsson, N. Bergman, U. Forssell, J. Jansson et al., Particle filters for positioning, navigation, and tracking, IEEE Transactions on Signal Processing, vol.50, issue.2, pp.425-437, 2002.

J. Härri, C. Bonnet, and F. Filali, The challenges of predicting mobility, EURE-COM, 2006.

F. Bai and A. Helmy, A survey of mobility modeling and analysis in wireless ad hoc networks, Wireless Ad Hoc and Sensor Networks, 2004.

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H. Wymeersch, J. Lien, and M. Z. Win, Cooperative localization in wireless networks, Proceedings of the IEEE, vol.97, issue.2, pp.427-450, 2009.

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D. Simon, Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches, 2006.

M. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking, IEEE Transactions on Signal Processing, vol.50, issue.2, pp.174-188, 2002.

S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics, ser. Intelligent Robotics and Autonomous Agents, 2005.

S. Särkkä, Bayesian Filtering and Smoothing, 2013.

K. Das and H. Wymeersch, Censoring for Bayesian cooperative positioning in dense wireless networks, IEEE Journal on Selected Areas in Communications, vol.30, issue.9, pp.1835-1842, 2012.

S. Zirari and B. Denis, Velocity-based CRLB predictions for enhanced cooperative links selection in location-enabled mobile heterogeneous networks, Proc. Workshop on Positioning, Navigation and Communications, pp.1-6, 2013.

G. M. Hoang, B. Denis, J. Härri, and D. T. Slock, Distributed link selection and data fusion for cooperative positioning in GPS-aided IEEE 802.11p VANETs, Proc. Workshop on Positioning, Navigation and Communications, pp.1-6, 2015.

S. V. De-velde, G. T. De-abreu, and H. Steendam, Improved censoring and NLOS avoidance for wireless localization in dense networks, IEEE Journal on Selected Areas in Communications, vol.33, issue.11, pp.2302-2312, 2015.

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H. L. Trees and K. L. Bell, Bayesian Bounds for Parameter Estimation and Nonlinear Filtering/Tracking, 2007.

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B. Kloiber, J. Härri, T. Strang, S. Sand, and C. R. García, Random transmit power control for DSRC and its application to cooperative safety, IEEE Transactions on Dependable and Secure Computing, vol.13, issue.1, pp.18-31, 2016.

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H. Li and F. Nashashibi, Cooperative multi-vehicle localization using split covariance intersection filter, IEEE Intelligent Transportation Systems Magazine, vol.5, issue.2, pp.33-44, 2013.
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F. Meyer, O. Hlinka, H. Wymeersch, E. Riegler, and F. Hlawatsch, Distributed localization and tracking of mobile networks including noncooperative objects, IEEE Transactions on Signal and Information Processing over Networks, vol.2, issue.1, pp.57-71, 2016.

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M. Maman, B. Denis, and L. Ouvry, An intuitive prioritised medium access scheme for tracking applications in UWB LDR-LT networks, Proc. IEEE International Symposium on Personal, Indoor and Mobile Radio Communications, pp.1-6, 2008.

, Specifications of implemented cooperative and fusion algorithms, HIGHTS Project Deliverable D5, vol.2, 2016.

, GPS Standard Positioning Service (SPS) Performance Standard, 2008.

P. Richardson and D. Shan, Experimental data collection and performance analysis of outdoor UWB positioning system under static and mobile conditions, EURASIP Journal on Wireless Communications and Networking, issue.1, 2009.

, Final platform description, 2018.

I. Khan, G. M. Hoang, and J. Härri, Rethinking cooperative awareness for future V2X safety-critical applications, Proc. IEEE Vehicular Networking Conference, pp.73-76, 2017.

, Access layer specification for Intelligent Transport Systems operating in the 5 GHz frequency band, 2012.

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