%A Sisbot, E Akin %A Vega, Augusto %A Paidimarri, Arun %A Wellman, John-David %A Buyuktosunoglu, Alper %A Bose, Pradip %A Trilla, David %D 2019 %T Multi-Vehicle Map Fusion using GNU Radio %K %X In this paper, we present a representative open-source application for fully/semiautonomous vehicles operating as a collaborative swarm using GNU Radio. This application is the driver of the DARPA-sponsored EPOCHS project led by IBM, which focuses on agile heterogeneous system-on-achip (SoC) development. The EPOCHS Reference Application (ERA) incorporates local sensing, creation of occupancy grid maps, vehicle-to-vehicle (V2V) communication of grid maps between neighboring vehicles using GNU Radio-based dedicated short-range communication (DSRC), and map fusion to create a joint higher-accuracy grid map. This paper analyzes the GNU Radio-based DSRC transceiver workload on a Xilinx Zynq UltraScale+ MPSoC, identifying computation kernels for software and/or hardware acceleration. In particular, we present optimizations of Viterbi decoding and complex exponential that result in a measured 5:4 performance improvement over a CPU-only baseline, with projections of a fully-optimized version of this hardware accelerator showing signicantly higher benets. %U https://pubs.gnuradio.org/index.php/grcon/article/view/61 %J Proceedings of the GNU Radio Conference %0 Journal Article %V 4 %N 1 %8 2019-09-17