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Synchronization allows to coordinate different tasks across the network and gives some guarantees about the shared information. Some of these tasks are caused e.g. by the mutual dependency between LLCs and HLCs. LLCs require regularly updated commands from the HLCs to maneuver crash-free and as desired according to e.g. their planned trajectory. HLCs need up-to-date vehicle states from the LLCs to calculate commands that accommodate the current state of the overall system.

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