SwarmDrive uses local SLMs on vehicles for event-triggered semantic V2V intent sharing and consensus, improving occluded intersection success from 68.9% to 94.1% and cutting latency to 151.4 ms in a 5-seed simulation.
Opv2v: An open benchmark dataset and fusion pipeline for perception with vehicle-to- vehicle communication,
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SwarmDrive: Semantic V2V Coordination for Latency-Constrained Cooperative Autonomous Driving
SwarmDrive uses local SLMs on vehicles for event-triggered semantic V2V intent sharing and consensus, improving occluded intersection success from 68.9% to 94.1% and cutting latency to 151.4 ms in a 5-seed simulation.