A Software-Defined Radio Testbed for Distributed LiDAR Point Cloud Sharing with IEEE 802.11p in V2V Networks

Abstract

We present a Software Defined Radio (SDR)-based IEEE 802.11p testbed for distributed Vehicle-to-Vehicle (V2V) communication. The platform bridges the gap between network simulation and deployment by providing a modular codebase configured for cost-effective ADALM-Pluto SDRs. Any device capable of running a Docker with ROS, executing Matlab and interface with a Pluto via USB can act as a communication node. To demonstrate collaborative sensing, we share LiDAR point clouds between nodes and fuse them into a collective perception environment. We evaluated a theoretical model for leveraging decentralized storage systems (IPFS and Filecoin), analyzing constraints such as node storage convergence, latency, and scalability. In addition, we provide a channel quality study.