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We consider the problem of joint channel assignment and power allocation in underlaid cellular vehicular-to-everything (C-V2X) systems where multiple vehicle-to-infrastructure (V2I) uplinks share the time-frequency resources with multiple vehicle-to-vehicle (V2V) platoons that enable groups of connected and autonomous vehicles to travel closely together. Due to the nature of fast channel variant in vehicular environment, traditional centralized optimization approach relying on global channelarXiv:2011.04555v1 fatcat:iftdr27hofbrbfyiuxzorp3vfq