  Decentralized vehicle-to-everything (V2X) networks (i.e., C-V2X Mode-4 and
NR-V2X Mode-2) utilize sensing-based semi-persistent scheduling (SPS) where
vehicles sense and reserve suitable radio resources for Basic Safety Message
(BSM) transmissions at prespecified periodic intervals termed as Resource
Reservation Interval (RRI). Vehicles rely on these received periodic BSMs to
localize nearby (transmitting) vehicles and infrastructure, referred to as
cooperative awareness. Cooperative awareness enables line of sight and non-line
of sight localization, extending a vehicle's sensing and perception range. In
this work, we first show that under high vehicle density scenarios, existing
SPS (with prespecified RRIs) suffer from poor cooperative awareness, quantified
as tracking error. Decentralized vehicle-to-everything (V2X) networks (i.e.,
C-V2X Mode-4 and NR-V2X Mode-2) utilize sensing-based semi-persistent
scheduling (SPS) where vehicles sense and reserve suitable radio resources for
Basic Safety Message (BSM) transmissions at prespecified periodic intervals
termed as Resource Reservation Interval (RRI). Vehicles rely on these received
periodic BSMs to localize nearby (transmitting) vehicles and infrastructure,
referred to as cooperative awareness. Cooperative awareness enables line of
sight and non-line of sight localization, extending a vehicle's sensing and
perception range. In this work, we first show that under high vehicle density
scenarios, existing SPS (with prespecified RRIs) suffer from poor cooperative
awareness, quantified as tracking error.
