Infrastructure-based cooperative perception has been researched for several years, but few automotive warning or control applications using this information have been published. Infrastructure sensing, such as with cameras or lidars, and a communication system, allows connected vehicles to receive information about all observed objects. An SAE standard, “V2X Sensor-Sharing for Cooperative and Automated Driving” (J3224), released in 2022, introduces the Sensor Data Sharing Message (SDSM) as the standard communication message for cooperative perception. This paper investigates the use of the SDSM for a vehicle application to provide warnings of potential collisions with vulnerable road users who will cross the street at the intersection. The application was tested in CARLA simulation under various roadside detection errors and communication conditions to assess the impact on the on-board application and estimate the minimum detection and communication requirements for effective use. In addition, the system was implemented and evaluated at the Mcity test facility. The results demonstrate that the proposed warning system can accurately and promptly warn the driver, given specific communication conditions, and show that the SDSM is viable for real-time on-board usage.

Abstract We introduce Displayed Type Theory (dTT) , a multi-modal homotopy type theory with discrete and simplicial modes. In the intended semantics, the discrete mode is interpreted by a model for an arbitrary $\infty$ -topos, while the simplicial mode is interpreted by Reedy fibrant augmented semi-simplicial diagrams in that model. This simplicial structure is represented inside the theory by a primitive notion of display or dependency , guarded by modalities, yielding a partially-internal form of unary parametricity. Using the display primitive, we then give a coinductive definition, at the simplicial mode, of a type of semi-simplicial types. Roughly speaking, a semi-simplicial type consists of a type together with, for each , a displayed semi-simplicial type over . This mimics how simplices can be generated geometrically through repeated cones, and is made possible by the display primitive at the simplicial mode. The discrete part of then yields the usual infinite indexed definition of semi-simplicial types, both semantically and syntactically. Thus, dTT enables working with semi-simplicial types in full semantic generality.

Parametricity is a property of the syntax of type theory implying, e.g., that there is only one function having the type of the polymorphic identity function. Parametricity is usually proven externally, and does not hold internally. Internalising it is difficult because once there is a term witnessing parametricity, it also has to be parametric itself and this results in the appearance of higher dimensional cubes. In previous theories with internal parametricity, either an explicit syntax for higher cubes is present or the theory is extended with a new sort for the interval. In this paper we present a type theory with internal parametricity which is a simple extension of Martin-Löf type theory: there are a few new type formers, term formers and equations. Geometry is not explicit in this syntax, but emergent: the new operations and equations only refer to objects up to dimension 3. We show that this theory is modelled by presheaves over the BCH cube category. Fibrancy conditions are not needed because we use span-based rather than relational parametricity. We define a gluing model for this theory implying that external parametricity and canonicity hold. The theory can be seen as a special case of a new kind of modal type theory, and it is the simplest setting in which the computational properties of higher observational type theory can be demonstrated.

We define and study LNL polycategories, which abstract the judgmental structure of classical linear logic with exponentials. Many existing structures can be represented as LNL polycategories, including LNL adjunctions, linear exponential comonads, LNL multicategories, IL-indexed categories, linearly distributive categories with storage, commutative and strong monads, CBPV-structures, models of polarized calculi, Freyd-categories, and skew multicategories, as well as ordinary cartesian, symmetric, and planar multicategories and monoidal categories, symmetric polycategories, and linearly distributive and *-autonomous categories. To study such classes of structures uniformly, we define a notion of LNL doctrine, such that each of these classes of structures can be identified with the algebras for some such doctrine. We show that free algebras for LNL doctrines can be presented by a sequent calculus, and that every morphism of doctrines induces an adjunction between their 2-categories of algebras.

We present a unified framework for Petri nets and various variants, such as pre-nets and Kock's whole-grain Petri nets. Our framework is based on a less well-studied notion that we call Σ-nets, which allow fine-grained control over whether each transition behaves according to the collective or individual token philosophy. We describe three forms of execution semantics in which pre-nets generate strict monoidal categories, Σ-nets (including whole-grain Petri nets) generate symmetric strict monoidal categories, and Petri nets generate commutative monoidal categories, all by left adjoint functors. We also construct adjunctions relating these categories of nets to each other, in particular showing that all kinds of net can be embedded in the unifying category of Σ-nets, in a way that commutes coherently with their execution semantics.

The ordinary Structure Identity Principle states that any property of set-level structures (e.g., posets, groups, rings, fields) definable in Univalent Foundations is invariant under isomorphism: more specifically, identifications of structures coincide with isomorphisms. We prove a version of this principle for a wide range of higher-categorical structures, adapting FOLDS-signatures to specify a general class of structures, and using two-level type theory to treat all categorical dimensions uniformly. As in the previously known case of 1-categories (which is an instance of our theory), the structures themselves must satisfy a local univalence principle, stating that identifications coincide with "isomorphisms" between elements of the structure. Our main technical achievement is a definition of such isomorphisms, which we call "indiscernibilities," using only the dependency structure rather than any notion of composition.

Univalent homotopy type theory (HoTT) may be seen as a language for the category of $\infty$-groupoids. It is being developed as a new foundation for mathematics and as an internal language for (elementary) higher toposes. We develop the theory of factorization systems, reflective subuniverses, and modalities in homotopy type theory, including their construction using a "localization" higher inductive type. This produces in particular the ($n$-connected, $n$-truncated) factorization system as well as internal presentations of subtoposes, through lex modalities. We also develop the semantics of these constructions.

We combine homotopy type theory with axiomatic cohesion, expressing the latter internally with a version of ‘adjoint logic’ in which the discretization and codiscretization modalities are characterized using a judgemental formalism of ‘crisp variables.’ This yields type theories that we call ‘spatial’ and ‘cohesive,’ in which the types can be viewed as having independent topological and homotopical structure. These type theories can then be used to study formally the process by which topology gives rise to homotopy theory (the ‘fundamental ∞-groupoid’ or ‘shape’), disentangling the ‘identifications’ of homotopy type theory from the ‘continuous paths’ of topology. In a further refinement called ‘real-cohesion,’ the shape is determined by continuous maps from the real numbers, as in classical algebraic topology. This enables us to reproduce formally some of the classical applications of homotopy theory to topology. As an example, we prove Brouwer's fixed-point theorem.

We report on the development of the HoTT library, a formalization of homotopy type theory in the Coq proof assistant. It formalizes most of basic homotopy type theory, including univalence, higher inductive types, and significant amounts of synthetic homotopy theory, as well as category theory and modalities. The library has been used as a basis for several independent developments. We discuss the decisions that led to the design of the library, and we comment on the interaction of homotopy type theory with recently introduced features of Coq, such as universe polymorphism and private inductive types.

Homotopy type theory is a recent research area connecting type theory with homotopy theory by interpreting types as spaces. In particular, one can prove and mechanize type-theoretic analogues of homotopy-theoretic theorems, yielding "synthetic homotopy theory". Here we consider the Seifert-van Kampen theorem, which characterizes the loop structure of spaces obtained by gluing. This is useful in homotopy theory because many spaces are constructed by gluing, and the loop structure helps distinguish distinct spaces. The synthetic proof showcases many new characteristics of synthetic homotopy theory, such as the "encode-decode" method, enforced homotopy-invariance, and lack of underlying sets.

We develop category theory within Univalent Foundations, which is a foundational system for mathematics based on a homotopical interpretation of dependent type theory. In this system, we propose a definition of ‘category’ for which equality and equivalence of categories agree. Such categories satisfy a version of the univalence axiom, saying that the type of isomorphisms between any two objects is equivalent to the identity type between these objects; we call them ‘saturated’ or ‘univalent’ categories. Moreover, we show that any category is weakly equivalent to a univalent one in a universal way. In homotopical and higher-categorical semantics, this construction corresponds to a truncated version of the Rezk completion for Segal spaces, and also to the stack completion of a prestack.

We describe a homotopical version of the relational and gluing models of type theory, and generalize it to inverse diagrams and oplax limits. Our method uses the Reedy homotopy theory on inverse diagrams, and relies on the fact that Reedy fibrant diagrams correspond to contexts of a certain shape in type theory. This has two main applications. First, by considering inverse diagrams in Voevodsky's univalent model in simplicial sets, we obtain new models of univalence in a number of (∞, 1)-toposes; this answers a question raised at the Oberwolfach workshop on homotopical type theory. Second, by gluing the syntactic category of univalent type theory along its global sections functor to groupoids, we obtain a partial answer to Voevodsky's homotopy-canonicity conjecture: in 1-truncated type theory with one univalent universe of sets, any closed term of natural number type is homotopic to a numeral.

Recent work on homotopy type theory exploits an exciting new correspondence between Martin-Lof's dependent type theory and the mathematical disciplines of category theory and homotopy theory. The mathematics suggests new principles to add to type theory, while the type theory can be used in novel ways to do computer-checked proofs in a proof assistant. In this paper, we formalize a basic result in algebraic topology, that the fundamental group of the circle is the integers. Our proof illustrates the new features of homotopy type theory, such as higher inductive types and Voevodsky's univalence axiom. It also introduces a new method for calculating the path space of a type, which has proved useful in many other examples.