Goal-Oriented Semantic Communication for Distributed ISAC-Enabled Vehicle Coordination

Goal-Oriented Semantic Communication for Distributed ISAC-Enabled Vehicle Coordination

|Authors: Wenjie Liu, Yansha Deng

|Venue: arXiv preprint | Year: 2026

|arXiv: 2607.15111v1

Abstract

Vehicle coordination at unsignalized intersections relies on accurate real-time vehicle state acquisition and reliable command-and-control (C&C) signal delivery. However, existing studies typically treat sensing, communication, and control separately, which may lead to redundant transmissions, outdated state information, and unreliable vehicle coordination. In this paper, we investigate a new scenario of distributed integrated sensing and communication (ISAC)-enabled vehicle coordination at intersections, where multiple roadside units (RSUs) collaboratively transmit sensing signals for vehicle state acquisition and C&C signals for vehicle movement control under the management of a central base station (BS). To improve signaling efficiency, we propose a unified goal-oriented semantic communication (GSC) framework, which transmits sensing and C&C signals only when they are semantically important for improving intersection traffic throughput. Specifically, an extended Kalman filter (EKF) is adopted to predict vehicle states and fuse distributed sensing measurements. A masked hybrid proximal policy optimization (MHPPO) framework is then developed to jointly determine sensing transmission decisions, C&C transmission decisions, and C&C signal contents based on a value-of-information (VoI) reward. Furthermore, we propose an uncertainty-aware transmission design (UTD), including robust beamforming and VoI-based time-division power allocation, to improve sensing and communication reliability under vehicle state uncertainty and inter-RSU interference. Simulation results show that our proposed framework achieves 100% collision-free vehicle coordination with significantly reduced signaling overhead compared with predictive ISAC baselines adapted from state-of-the-art related studies and several ablation baselines.

Key Contributions

• Vehicle coordination at unsignalized intersections relies on accurate real-time vehicle state acq…
• However, existing studies typically treat sensing, communication, and control separately, which m…
• In this paper, we investigate a new scenario of distributed integrated sensing and communication …
• To improve signaling efficiency, we propose a unified goal-oriented semantic communication (GSC) …
• Specifically, an extended Kalman filter (EKF) is adopted to predict vehicle states and fuse distr…

Topics

• vision
• reinforcement-learning
• control

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Liu2026_260715111v1,
  title     = {Goal-Oriented Semantic Communication for Distributed ISAC-Enabled Vehicle Coordination},
  author    = {Wenjie Liu and Yansha Deng},
  year      = {2026},
  eprint    = {2607.15111v1},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2607.15111v1}
}