Abstract: A computer apparatus, that receive, at an autonomous vehicle, information at least indicative of at least a velocity, a position and at least a portion of a current trajectory of at least one other autonomous vehicle; determine if a collision between the autonomous vehicle and at least one of the at least one other autonomous vehicle will occur, based, at least in part, on the received information and, at least, a velocity, a position and at least a portion of a current trajectory of the autonomous vehicle; and if it is determined that the collision will occur, amend a costmap of the autonomous vehicle based, at least in part, on relative positioning and/or trajectories of the autonomous vehicle and the at least one other autonomous vehicle to manipulate cost in the costmap in and/or around an area of a predicted collision zone.

Abstract: An apparatus for use by a communication network control element or function configured to conduct a radio resource management, the apparatus being configured to cause the apparatus at least: to acquire input parameters; to process the input parameters by using a first-stage procedure for maximizing a weighted sum-rate for a fixed subcarrier allocation for all subcarriers, and a second-stage procedure for determining a power allocation for a single subcarrier under consideration of specified multiplexing and interference cancellation constraints wherein a processing result output from the first-stage procedure is input into the second-stage procedure, and a processing result output from the second-stage procedure is returned to the first-stage procedure; and to output, on the basis of results of the processing in the first-stage procedure and the second-stage procedure, a power setting for at least one subcarrier.

Abstract: An apparatus for use by a communication network control element or function configured to conduct a radio resource management, the apparatus being configured to cause the apparatus at least: to acquire input parameters; to process the input parameters by using a first-stage procedure for maximizing a weighted sum-rate for a fixed subcarrier allocation for all subcarriers, and a second-stage procedure for determining a power allocation for a single subcarrier under consideration of specified multiplexing and interference cancellation constraints wherein a processing result output from the first-stage procedure is input into the second-stage procedure, and a processing result output from the second-stage procedure is returned to the first-stage procedure; and to output, on the basis of results of the processing in the first-stage procedure and the second-stage procedure, a power setting for at least one subcarrier.