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The performance of autonomous vehicles could be drastically improved if ad-hoc networking and suitable real-time coordination is employed to optimize and improve the joint behavior of multiple autonomous units. However, due to ad-hoc connections and the real-time interaction the correctness and safety of such coordinated autonomous units is very hard to ensure. In this paper we present how serviceoriented real-time coordination can be employed to achieve this goal. Based on the proper real-timedoi:10.1109/isorc.2008.13 dblp:conf/isorc/BeckerG08 fatcat:ktv7vd7snbbj5ivf7jidbcjhfu