{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,23]],"date-time":"2026-10-23T21:13:36Z","timestamp":1792790016593,"version":"4.5.0"},"reference-count":21,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2026,9,21]],"date-time":"2026-09-21T00:00:00Z","timestamp":1789948800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Seoul ANCHOR Center"},{"name":"Ministry of Education"},{"name":"Seoul Metropolitan Government","award":["2026-ANCHOR-01-019-04"],"award-info":[{"award-number":["2026-ANCHOR-01-019-04"]}],"id":[{"id":"https:\/\/ror.org\/002wfgr58","id-type":"ROR","asserted-by":"crossref"}]},{"award":["2026-ANCHOR-01-019-04"],"award-info":[{"award-number":["2026-ANCHOR-01-019-04"]}],"id":[{"id":"https:\/\/ror.org\/002wfgr58","id-type":"ROR","asserted-by":"publisher"}]},{"name":"Advanced GPU Utilization Support Program"},{"name":"Government of the Republic of Korea","id":[{"id":"https:\/\/ror.org\/019xm3p48","id-type":"ROR","asserted-by":"crossref"}]},{"id":[{"id":"https:\/\/ror.org\/019xm3p48","id-type":"ROR","asserted-by":"publisher"}]},{"name":"Ministry of Science and ICT","id":[{"id":"https:\/\/ror.org\/01wpjm123","id-type":"ROR","asserted-by":"crossref"}]},{"id":[{"id":"https:\/\/ror.org\/01wpjm123","id-type":"ROR","asserted-by":"publisher"}]},{"name":"Information Technology Research Center","award":["IITP-2026-RS-2024-00437494"],"award-info":[{"award-number":["IITP-2026-RS-2024-00437494"]}]},{"name":"Institute for Information & Communications Technology Planning & Evaluation","id":[{"id":"https:\/\/ror.org\/01g0hqq23","id-type":"ROR","asserted-by":"crossref"}]},{"id":[{"id":"https:\/\/ror.org\/01g0hqq23","id-type":"ROR","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This study presents an asymmetric cooperative perception-and-control architecture in which a sensor-rich mobile master vehicle performs external perception, state estimation, motion planning, and path-tracking control for sensor-light slave vehicles. The proposed vehicle-model-aided LiDAR tracking (VMALT) method combines ego-motion-compensated LiDAR measurements with transmitted speed and steering commands through a kinematic bicycle model. In physical-vehicle experiments, VMALT reduced the slave-position RMSE from 0.36 m with a LiDAR-only constant-velocity Kalman filter to 0.32 m, corresponding to an 11.1% improvement. The estimated state was subsequently used for closed-loop speed and path-tracking control of the physical slave vehicle. Scalability was evaluated using a one-master\u2013two-slave configuration over three separate runs comprising circular and linear paths and geometrically identified line-of-sight-overlap candidates. Concurrent two-target LiDAR availability ranged from 96.465% to 99.934%, with a maximum interior observation gap of 0.10 s. The VMALT trajectories expressed in the GPS coordinate frame followed the position and direction of both slave vehicles, with heading RMSEs ranging from\u00a01.835\u2218\u00a0to\u00a04.609\u2218. In an LTE-tethering communication test, all 2400 UDP packets were returned, with median and 99th-percentile round-trip times of 4.654 and 8.220 ms, respectively. These results demonstrate the feasibility of centralized perception and control for multiple sensor-light vehicles under the evaluated low-speed operating conditions.<\/jats:p>","DOI":"10.3390\/s26185983","type":"journal-article","created":{"date-parts":[[2026,9,22]],"date-time":"2026-09-22T10:21:48Z","timestamp":1790072508000},"page":"5983","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Mobile-Master-Vehicle-Based LiDAR Perception and Centralized Control of Sensor-Light Slave Vehicles"],"prefix":"10.3390","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8839-298X","authenticated-orcid":false,"given":"Heeseok","family":"Shin","sequence":"first","affiliation":[{"name":"Convergence Major for Intelligent Drone, Department of Aerospace Systems Engineering Sejong University, Seoul 05006, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]},{"given":"Jeonghoon","family":"Kwak","sequence":"additional","affiliation":[{"name":"AI+X Research Center, Advanced Institute of Convergence Technology (AICT), Suwon 16229, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6779-603X","authenticated-orcid":false,"given":"Heechang","family":"Moon","sequence":"additional","affiliation":[{"name":"Department of Mechanical and System Design Engineering, Hongik University, Seoul 04066, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"visualization","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"given":"Sangjun","family":"Bae","sequence":"additional","affiliation":[{"name":"Department of Drone Robotics, Sejong Cyber University, Seoul 05000, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"}]},{"given":"Nguyen Xuan","family":"Mung","sequence":"additional","affiliation":[{"name":"Convergence Major for Intelligent Drone, Department of Aerospace Systems Engineering Sejong University, Seoul 05006, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"investigation","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"resources","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5348-8068","authenticated-orcid":false,"given":"Myeongjun","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Electrical and Control Engineering, Cheongju University, Cheongju 28503, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"109751","DOI":"10.1016\/j.isci.2024.109751","article-title":"Toward autonomous vehicles: A survey on cooperative vehicle-infrastructure system","volume":"27","author":"Ji","year":"2024","journal-title":"iScience"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Xu, R., Xiang, H., Xia, X., Han, X., Li, J., and Ma, J. 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