Private and Secure Coordination of Match-Making for Heavy-Duty Vehicle Platooning
| dc.contributor.author | Farokhi, Farhad | en |
| dc.contributor.author | Shames, Iman | en |
| dc.contributor.author | Johansson, Karl H. | en |
| dc.date.accessioned | 2025-12-31T21:42:59Z | |
| dc.date.available | 2025-12-31T21:42:59Z | |
| dc.date.issued | 2017 | en |
| dc.description.abstract | A secure and private framework for inter-agent communication and coordination is developed. This allows an agent, in our case a fleet owner, to ask questions or submit queries in an encrypted fashion using semi-homomorphic encryption. The submitted query can be about the interest of the other fleet owners for using a road at a specific time of the day, for instance, for the purpose of collaborative vehicle platooning. The other agents can then provide appropriate responses without knowing the content of the questions or the queries. Strong privacy and security guarantees are provided for the agent who is submitting the queries. It is also shown that the amount of the information that this agent can extract from the other agent is bounded. In fact, with submitting one query, a sophisticated agent can at most extract the answer to two queries. This secure communication platform is used subsequently to develop a distributed coordination mechanisms among fleet owners. | en |
| dc.description.sponsorship | Heavy-D∗uty Vehicle∗ Platooning ∗∗ Farhad Farokhi∗ Iman Shames∗ Karl H. Johansson∗∗ Farhad Farokhi∗ Iman Shames∗ Karl H. Johansson∗∗ Farhad Farokhi Iman Shames Karl H. Johansson ∗ Farhad Farokhi∗∗ Iman Shames∗∗ Karl H. Johansson∗∗∗∗ ∗DeFpaarrhatmentd FofaroElkhiectricImanal andSElheamesctronicKarEngilnH.eeriJohng andansMsonelbourne ∗Department of Electrical and Electronic Engineering and Melbourne fi∗nformation, Decision and Autonomous Systems (MfiDAS) Laboratory, fi∗nformation, Decision and Autonomous Systems (MfiDAS) Laboratory, finformation, Decision and Autonomous Systems (MfiDAS) Laboratory, finformation,(eD-emcaisiilos:n{affnadroAkhuit,oinshoammoeuss}@Syusnteimmeslb(.MedfuiD.aAuS)) Laboratory, University of Melbourne, Parkville, VfiC 3010, Australia AUCnCivEeSrsSitLyinofnaMeeulsboCuernntee,r,PSarckhvoiolleo,fVEfilCec3tr0i1ca0l, EAnugsitnraeleiraing, ∗∗ (e-mails: {ffarokhi,ishames}@unimelb.edu.au) ∗∗ACCESS Linnaeus Center, School of Electrical Engineering, ACCESS Linnaeus Center, School of Electrical Engineering, KT∗∗H Royal finstitute of Technology, SE-100 44 Stockholm, Sweden KTH Royal finstitute of Technology, SE-100 44 Stockholm, Sweden KTH Royal finstitute of Technology, SE-100 44 Stockholm, Sweden (e-mail: kallej@kth.se) (e-mail: kallej@kth.se) Abstract: A secure and private frameworffi for inter-agent communication and coordination is Abstract: A secure and private frameworffi for inter-agent communication and coordination is Abstract: A secure and private frameworffi for inter-agent communication and coordination is Aanbesntrcraycptt:eAd fsaeschuiroenaunsdinpgrisveamtei-hfroammoemworrpffihfiocreinncteryr-patgieonnt. cTohmemsuuΞnmicaitttieodnqaunedrycocoarndiΞneataioΞnouist developed. This allows an agent, in our case a fleet owner, to asffi questions or suΞmit queries in dtheeveinlotpereeds.tTohf itshealolotwhesrafnleeatgoenwtn,eirnsofour ucsaisnegaafrleoeatdoawtnaesrp, etcoifaicsfftiiqmueesotfiothnes dorays,ufΞomr iintsqtaunerciee,sfoinr an encrypted fashion using semi-homomorphic encryption. The suΞmitted query can Ξe aΞout athneepnucrrpyposteedoffacsohlliaoΞnourasitnivgesveemhii-chleomploamtoornpihnigc.eTnhcreyoptthioenr.aTgehnetsucΞamn itthteend pqruoevriydecaanppΞreopaΞrioautet the interest of the other fleet owners for using a road at a specific time of the day, for instance, for trhesepionnteseresstwoitfhtohuetotffhineorwflienegt otwhenecrosnftoernutsionfgtaheroqadueasttiaonsps eocrifitchteimqeuoefritehse. dSatyro, nfogr ipnrsitvaancyce,afnodr the purpose of collaΞorative vehicle platooning. The other agents can then provide appropriate tsheceupriutrypgousearoafnctoelelsaΞaorreaptirvoevivdeehdicfloerptlahteoaogneinngt.wThhoe iosthsueΞrmagitetnintsgctahnetqhueenriperso.vIitdeisaaplpsorosphroiawtne responses without ffinowing the content of the questions or the queries. Strong privacy and rthesaptotnhseesamwoituhnotuotf tffihneowinifnogrmthateiocnonthteanttthoifs tahgeenqtuceasntioenxtsraocrt tfhroemqutheerieost.heSrtraognegntpisrivΞaocuyndaendd. security guarantees are provided for the agent who is suΞmitting the queries. It is also shown sInecufarcitty, wguitahrasnutΞemesitatriengpronveidqeuderfoyr, athseoapgheisntticwatheodisagseunΞtmciattninagt tmheosqtueexritersa.ctIttihseaalsnoswsheorwtno that the amount of the information that this agent can extract from the other agent is Ξounded. twhaotqtuheeraiems.oTunhtisosfetchuereincfoomrmautinoincatthioant tphliastfaogremntiscaunsedxtsruaΞcstefqruomenttlhyetoothdeervealgoepntaidsiΞstoruiΞnudteedd. In fact, with suΞmitting one query, a sophisticated agent can at most extract the answer to Icnoofradcitn,awtiiotnh msueΞchmainttisinmgs oanmeoqnugefrlye,etaoswonpehriss.ticated agent can at most extract the answer to tcoworodqueinatrieions. Tmhisechsanecuismsre coamonmmugniflceetatioonwplanertfos.rm is used suΞsequently to develop a distriΞuted cKoeoyrwdoinradtsi:oPnrmiveachya;nSiescmusriatym;oCnogofrldeeintaotwionne;rHs.omomorphic Encryption; Vehicle Platooning. cKoeoyrwdoinradtsi:oPnrmiveacchya;nSiescmusriatym;oCnogofrldeeintaotwionne;rHs.omomorphic Encryption; Vehicle Platooning. Keywords: Privacy; Security; Coordination; Homomorphic Encryption; Vehicle Platooning. Keywords: Privacy; Securityy;; Coordination; Homomorphic Encryption; Vehicle Platooning. 1. INTRODUCTION Following this motivation, in this paper, we create a secure 1. INTRODUCTION Following this motivation, in this paper, we create a secure 1. INTRODUCTION Following this motivation, in this paper, we create a secure The advances in c11o..mIINNmTTunRRiOcaDtiUUonCCTTteIIcOOhNnology has created agoellnotws,infgleethtioswmnoetrisvawtiiothni,ninththeicsopnatpeexrt,owfetchreeahteeaavys-edcuutrye The advances in communication technology has created anagedntpsr,ivfleateetoframwneerswowrithinffi forthecomcmonutnexticatoifontheΞehetwaeveny-dtuwtyo new opportunities regarding shared economy. An example aenhdicpleripvlaatteoofrnainmge.wInortffhi efoprrecsoemntmedunfriacamteiownorΞffie,tiwt eisenpotswsio-The advances in communication technology has created agents, fleet owners within the context of the heavy-duty TishceolaaladdΞvaonraccteeissveindrccioovmminmmg,unsuiccahtiaosn htteeeacchvny-oodllougtyy hveahsicclreeaptlead-agleenfotrs,afnleaegteonwtnteorasswffiiathqiunetshtieonconrtseuxΞtmofittahesihmepalveyq-duuertyy new opportunities regarding shared economy. An example vehicle platooning. In the presented frameworffi, it is possi-nntoeeowwnionppgpporrrttruuinndiiettiiseehssarreignagrr,ddwiinnitgghsthhhaaerreeaddimeeconf ormedyu..cAinngecxoasmtspolleer reeghaicrldeinpglatthooeniintge.reInstthoef pthreeseonthteedr fargaemnetws oarΞffio,uitt iusspinogssia-is collaΞorative driving, such as heavy-duty vehicle pla-Ξle for an agent to asffi a question or suΞmit a simple query icsarcΞooollllnaaΞfoorraatpttiirvvientddorrfiivvciinnomgg,msuuutccehrsasorhfeleaaevvtyys--d(uBteyssveleeihnifcfileetpalla.-, Ξoleadfoartaansapgecnitfictotiamsfefi aofqtuheestdioayn (ofrosrufΞormmitinagspimlaptoleonqus)eriny tooning or ride sharing, with the aim of reducing costs or regarding the interest of the other agents aΞout using a t2o0o1n6i)n.gTohrisrrhiiddaeessmhhoaatrriiivnnaggt,,ewdiisttthhudtthhieeesafoiimmrcorfearrteeidnugcaiinnpggprccopssttrssiaoterr rengaenrdcirnygpttehdefainstheiroens.tTohfisthiesdoothneerinagseuncthsaΞwoauyttuhsaitngthae carΞon footprint of commuters or fleets (Besselinffi et al., road at a specific time of the day (for forming platoons) in cinacreΞnotnivfeosotfporinttheoffcleoemtmouwtneresrsortofleeceeotlsla(ΞBBoeerssassteeelin(ffFffiiaertofafilh.,i oothaderaatgaenstpseciafincptirmoveidoef theidraryes(pfoornsfoersmwiintghopulattfofinoonws)ining 2016). This has motivated studies for creating appropriate an encrypted fashion. This is done in such a way that the 2et001a6l.)),..2T0hh1ii5ss)h.aAsltmhottuiigvvhattpeedrosmttuuisddiniieegs,ffhooeracvrryee-adttuiinntggyavppepphrricoolpperrpiiaalate-thneecnocnrtyepnttedofftahsehiqoune.sTtihonissiosrdtohneeqiunesruiecsh.Tahweafyratmhaewtothrfefi incentives for the fleet owners to collaΞorate (Faroffihi other agents can provide their responses without ffinowing et al., 2015). Although promising, heavy-duty vehicle pla-the content of the questions or the queries. The frameworffi et al., 2015). Although promising, heavy-duty vehicle pla-the content of the questions or the queries. The frameworffi eotfavlle..,,hi2c0le1s5.).BAelstihdoeuutggehchppnrrooolmogiissiciinnaggl,ahhneedaavlye-gdaultyΞavrerhhieiirccsllee, ppthllaais--whheichonatellnotwosftahlgeeqΞureasictiomnsanoirptuhleatqiounerioefs.tThheepfrlaaminewdoartfafi tooning has not yet Ξeen adopted Ξy the larger population is developed with the aid of semi-homomorphic encryption, tcooounnldiinnΞggehhpaaasrntloytmyeottiΞveaetnedadΞoyptttheeadtΞcyomtthhmeeelarrcgiaelr,pooftpeunlacttoiimoon-isidthevoeultoptheednweietdhtfohredaeidcroyfpsteimoni-uhsoimngomapoprprohpicrieantecrcyopmtipoun-, of vehicles. Beside technological and legal Ξarriers, this which allows algeΞraic manipulation of the plain data opfetvineehhg,iiccellenst.itBBieeesssaiidreeuttencwhhinllooinlloggitcoalshaanrdetllehgeairleΞΞnaatrrirrierrpssr,,ivttahhtiiess wahtiochnsaolvloewrtshealegnecΞrryapictedmdaantipa;uslaetei,oen.g.o,f(Ythieetpalla.,in20d14aata) could Ξe partly motivated Ξy that commercial, often com-without the need for decryption using appropriate compu-cdoautalld, Ξe.eegp.,artthlleyy mroouttiievvsaattoeefdd tΞΞhyyeittrhhaavttechoicmlems earncidal,thoeftierntcraovme-l aΞitohuotuhtotmheomneoerdphfoicr deneccrryyppttiioonn.uTsihnigs acpaptergooprryiaotef ecnomcrpypu--peting, entities are unwilling to share their entire private tations over the encrypted data; see, e.g., (Yi et al., 2014a) ptiemtiensg,,weinthttiitteiiaeecshaorethuenrweviillelliinngifttdoooisnhhgaarseottrhheseeuirltesnittniirrleeowpperriirvvoapttee-taotniontsecohvneirqtuheesemncarfyfiepsteidtdpaotsas;iΞselee,feo.rg.,th(Yeiseetcoanl.d,20a1g4enat) data, e.g., the routes of their vehicles and their travel aΞout homomorphic encryption. This category of encryp-dderaaatttaai,vee.cgo..s,,tst.hTehrrioosuucttoeeussldoofΞetthhΞeeeiirrcavueshheiiocclfepssriavnadcyttchhoeenirstrttarraainvvteesll aiΞ.eo.u,tthhoemfloemetoropwhnicerenrcercyepivtiinong.tThheisecnactreygpotreydoqfueensctrioynp)-times, with each other even if doing so results in lower option techniques maffies it possiΞle for the second agent ttΞiiymmtehsse,, wcuiittshhtoemaaeccrhhs ootrhseerrcreeevvteeinveiiffndaotuiinnrgge ossof mrreeassruuffllietttssiniinng llaoogwweenrrcioeps-. tioonrestpecohnndiqtuoesit muasiffniegs aitppproospsriiΞaltee fmorantihpeulsaetcioonnsd oafgtehnet erative costs. This could Ξe Ξecause of privacy constraints (i.e., the fleet owner receiving the encrypted question) eeTrrhaaettriiveefocroes,tssit.. TishiiossfccioonuutledreΞset Ξteocacuresaetoef privaatcceyy aconndstsreaciunrtes ein.ec.r,ypthtedfldeaeta.owSntreorngrecperiivviancgy tahnedesneccruyrpittyedguqaureasntitoenes) Ξy the customers or secretive nature of marffieting agencies. to respond to it using appropriate manipulations of the Ξmyatthche-ccmuuastffooiinmmgeerrsseorvrisceecsreftoirveenffaetcutirveeofcmooarrdffientaintigonaaggaeennmccoiieenssg.. torerepsrpoovniddedtofoirt tuhseingagaepnptrwophroiastueΞmaitnsiptuhleatqiounesryo.fItthies Therefore, it is of interest to create private and secure encrypted data. Strong privacy and security guarantees Tcohhmeerpeefftooirrneeg,, eiittntiistieosftiionntfearrceeislittattoectrheeasteenpperrwiivvtaaettceehnaaonnlddogsieecs.urIet enlscorysphtoewdndtahtaat. tShteroanmgopurnivtaocfytahnedinsfeocrumriattyiognutahraantttehees match-maffiing services for effective coordination among are provided for the agent who suΞmits the query. It is mgoaetschw--immthaaoffffiiuiintgsassyeeirrnvgiccteehssaftortheeeffffueeccsettivfoeerccsoouoocrrhdisnearttviiiocnesaims onnogt qrueesptiroonviindgedagfoerntthceanageexnttrawcthofrosumΞmaliltsthteheotqhueerrya.gIetntiss competing entities to facilitate these new technologies. It also shown that the amount of the information that the cliomitppeedttiitnnogveenhttiiicttliieeesplttaootoffaaocniiillniittgaattaeendtthhceeassen nΞewjutsetcihhfinnedoollioonggiimeesa..nIIytt islsΞoosuhnodwend t(hinatfatchte waimthouonnteoqfutehsetioinnfoarmflaeetitonowtnheart ctahne goes without saying that the use for such services is not questioning agent can extract from all the other agents gootheesrwsiiettthhuoopust, suaayychiinnggasthriadttetshhearuuissneg,focrolsslauuΞcchorsaetrrivvveiiccelossgistnicost, atuemstoiosntinexgtraagcetnthceananesxwterracttofrtowmo qaullestthieonosthaeΞrouatgetnhtes limited to vehicle platooning and can Ξe justified in many is Ξounded (in fact with one question a fleet owner can other setups, such as ride sharing, collaΞorative logistics, at most extract the answer to two questions aΞout the other setups, such as ride sharing, collaΞorative logistics, at most extract the answer to two questions aΞout the other setups, such as ride sharing, collaΞorative logistics, at most extract the answer to two questions aΞout the energy marffiets, and even online dating services. interests of the other fleet owners, which could Ξe negli-★enTerhgeywommrkaarrofffieFt.ssF,,aaaronnkdhieeavvneednnI.ooSnnhlianmeesdwataisnsgupsspeeorrrvtieccdeebss..yaMcKen- giniΞlehteisresinsetcsucoorempf cthoamerismootuhnnetoricafltheteieotnnopuwlmanteΞfroesrr,mowfihspicouhssseiΞlecdousuldqueΞsΞeqestiouneennsgtll).iy- zie Fellowship and a grant (MyIP: ID6874) from Defence Science and giΞle in comparison to the numΞer of possiΞle questions). z★ieTFheellwoworskhiopfaFn.dFaargorkahnita(nMdyI.PS:hIaDm6e8s74w)afsrosumpDpoerfteendcebSycaieMncceKaennd-goiΞdleevienlocpomdipstarriiΞsountedtoctohoerdninuamtΞioenr mofepchoasnsiiΞsmle sqfuoershtieoanvsy)-. The work of F. Farokhi and I. Shames was supported by a McKen- This secure communication platform is used suΞsequently pTiortedeecFhenlololbowygsyKhiGnpuratonuodpcha(DgArSliceaTntG(W)M.aTyllIhePen:bwIergsDor6k87Fo4of)uKfnr.doHamt.iDoJnoehf(eaKnncAsesWoSnc),iweSnawcseesdauinspdh-Tuhtiys svechuircelecpolmatmouonniincagt.ioNnotpelatthfoartmaltishouusegdh stuhΞespeqlautefonrtmly zie Fellowship and a grant (MyIP: ID6874) from Defence Science and to develop distriΞuted coordination mechanisms for heavy-pToercthendolboygyKGnurtouopch(DASliTceGW).aTllheenbweorgrks FoofuKn.dHat.ioJnoh(aKnAssWon),wSawsesduisph- duty vehicle platooning. Note that although the platform pTortedechnolboygyKGronutupoch(DSTG).Alice WaThellenbwergsorkFofouK.ndHat.ioJohanssonn (KAW),wSawsesup-dish duty vehicle platooning. Note that although the platform FoourtneddabtiyonKnfourt oScthraAtelgiciec WRaelsleeanrbcehrg(sSFSoFu)n, daantdionSw(KedAiWsh),RSewseeadricshh isutdyevelhoipceled pinlattohoenicnogn.teNxotteofthmatataclht-hmouagffihintghefopr lahtefaovrym-CouncilFoortedundabti(VyonKRnf).orut oStrategch Aliceic WRaelsleeanrbcergsh (SSF),FoundandationSw(KedAiWsh),RSewseeadricshh isutdeyvveelohicpeledplain totheoningcon.teNxtoteofthamtataclthoh-mugaffiinh theg foplar hetfoavrmy- Foouunndcailti(oVnRf)o.r Strategic Research (SSF), and Swedish Research is developed in the context of match-maffiing for heavy-Foundation for Strategic Research (SSF), and Swedish Research is developed in the context of match-maffiing for heavy-Council (VR). CCouncilopyrigh(Vt ©R ).2017 IFAC 7616 2405-8963 © 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. Copyright © 2017 IFAC 7616 Peer review under responsibility of International Federation of Automatic Control. Copyright © 2017 IFAC 7616 10.1016/j.ifacol.2017.08.1485 | en |
| dc.description.status | Peer-reviewed | en |
| dc.format.extent | 6 | en |
| dc.identifier.issn | 2405-8963 | en |
| dc.identifier.scopus | 85031815558 | en |
| dc.identifier.uri | https://hdl.handle.net/1885/733798424 | |
| dc.language.iso | en | en |
| dc.rights | Publisher Copyright: © 2017 | en |
| dc.source | IFAC-PapersOnLine | en |
| dc.subject | Coordination | en |
| dc.subject | Homomorphic Encryption | en |
| dc.subject | Privacy | en |
| dc.subject | Security | en |
| dc.subject | Vehicle Platooning | en |
| dc.title | Private and Secure Coordination of Match-Making for Heavy-Duty Vehicle Platooning | en |
| dc.type | Journal article | en |
| dspace.entity.type | Publication | en |
| local.bibliographicCitation.lastpage | 7350 | en |
| local.bibliographicCitation.startpage | 7345 | en |
| local.contributor.affiliation | Farokhi, Farhad; Department of Electrical and Electronic Engineering | en |
| local.contributor.affiliation | Shames, Iman; Department of Electrical and Electronic Engineering | en |
| local.contributor.affiliation | Johansson, Karl H.; KTH Royal Institute of Technology | en |
| local.identifier.ariespublication | a383154xPUB20897 | en |
| local.identifier.citationvolume | 50 | en |
| local.identifier.doi | 10.1016/j.ifacol.2017.08.1485 | en |
| local.identifier.pure | 9fb53c6b-774d-4163-b891-4b331fdb1e09 | en |
| local.identifier.url | https://www.scopus.com/pages/publications/85031815558 | en |
| local.type.status | Published | en |