Architecture of autonomous vehicle simulation and control framework

Gupta, Neerja; Vijay, Ritukar; Korupolu, Pradyot V. N.; Bansal, J. K.; Kapuria, Anuj

doi:10.1145/2783449.2783515

Cited by 6 publications

(4 citation statements)

References 15 publications

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“…Evolutionary algorithm [5], [33], [35], Hierarchical-DDPG [155], A* algorithm [71], [127], [156]- [158], ARA* 25 [84], Theta* + DWA 26 [89], G-RRT* 27 [83] 3 -Collision Avoidance DRL 28 [99], RRT [144], Fuzzy inference [13], [98], DWA [76], [159], [160], Particle Filter [161],…”

Section: Householdmentioning

confidence: 99%

“…Reference Numbers Gazebo Simulators Gazebo only [13], [15], [18], [22], [28], [30], [33], [35], [36], [53], [78], [84]- [88], [90], [92]- [96], [98], [102], [104]- [107], [111], [112], [115], [116], [123], [125], [131], [137], [140], [143], [144], [147], [150], [151], [155], [156], [158], [159], [162], [166], [178], [181], [188], [192], [193], [195], [197], [199]-[202] Gazebo + RViz [1],…”

Section: Simulator Typementioning

confidence: 99%

See 1 more Smart Citation

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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Simulation plays a pivotal role in providing safely reproducible scenarios to evaluate the ever-advancing domain of computer science and robotics. It was an essential part of the pandemic when no access to physical spaces was available. The advent of AI-powered platforms in conjunction with enhanced graphics, physics and other sensory engines attracts a new breed of interdisciplinary researchers to enter the robotic field, most notably from computer science, engineering and social sciences. Integration of ROS as a uniform middleware to deploy achieved outcomes in real practice provides an opportunity to move one step closer to the sim-to-real experiences that enables researchers to test ideas beyond the close laboratory spaces. There is a lack of comprehensive evaluation of ROS-enabled simulators, and the integration of advanced AI techniques for realistic scenario replication. This paper addresses this challenge by evaluating ROSenabled simulators in the design and implementation of AI techniques through an in-depth systematic literature review (SLR). This SLR is guided by the research and commercial market demands, employing Population, Intervention, Comparison, Outcome, and Context (PICOC) and Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) frameworks with a major focus on Wheeled Mobile Robots (WMRs). We also highlight the increasing importance of game engines like Unity and Unreal in future of robotic simulations, especially under modelling close to real experiences. By comparing simulation platform features and capabilities, this paper offers guidance to developers and researchers, enabling them to select the most suitable platform for their projects efficiently that contradicts the commonly in use "one size fits all" approach. Finally, based on the thorough insights from the review, we identify and suggest some key future research directions in AI-enhanced realistic robotic simulations.

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Section: Householdmentioning

confidence: 99%

Section: Simulator Typementioning

confidence: 99%

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

View full text Add to dashboard Cite

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“…Kim et al [62] proposed an integrated road traffic-network-cloud simulator for V2C connected car services (IsV2C) with a user-friendly GUI. Besides these Model-in-Loop mechanisms, some Hardware-in-Loop testbeds are also constructed and employed for the study of ITS [63,64]. All these works shows that simulation is feasible, and these methods are worth learning.…”

Section: Simulation and Verificationmentioning

confidence: 99%

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

et al. 2018

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With the coming of intelligent vehicles and vehicular communication, Intelligent Transportation Systems (ITS) of connected vehicles are emerging and now evolving to Cooperative-ITS (C-ITS), as service platforms for smart cities. Considering new service properties, the autonomous cooperation of such vehicles has exhibited novel QoS features that imply new requirements: guaranteeing the traffic efficiency of any emergent vehicle while trying to promote the throughput at an intersection. So, after analyzing the classic reservation-based cooperation mechanisms, new QoS-oriented cooperation methods and policies are studied in this work. Concretely, several models of related traffic objects we have proposed are firstly introduced briefly. Then, the scheduling policies of vehicles approaching an intersection have been presented, including three existing policies (FAFP-SV, FAFP-SQ, and HQEP-SV) and five new polices (FAFP-SQ-SV, FAFP-MQ, HWFP-SQ, HWFP-SQ-SV, HWFP-MQ). These policies combine two major factors: vehicular priority for scheduling and concurrency in traffics. The first one includes the vehicular arrival-time, priority mapped to QoS, and the weight of reserved vehicles on a lane etc. In addition, the second refers to schedule a platoon rather than single vehicle each time, or platoons on different lanes instead of one platoon on only one lane. All these policies have been implemented, and further, verified within the parameter-configurable traffic simulator QoS-CITS (v2.1) we designed and developed with C#. Abundant experiments have been conducted with configured typical traffic scenes, and experimental results show that HWFP-SQ-SV and HWFP-MQ can guarantee both the QoS of emergent vehicles and traffic throughput better than other six policies.

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“…For example, some outstanding companies, such as Tesla, Google and Baidu, have successfully deployed autonomous cars in cities, and these cars are expected to be deployed in suburbs of city or rural areas. On top of achievements from leading corporations, numerous autonomous vehicle schemes from universities or individuals, either motor-based schemes [3][4][5][6][7][8][9][10][11] or electronic-based schemes [12][13][14][15][16][17][18][19], are also extraordinary and have decent performance in various of situations.…”

Section: Introductionmentioning

confidence: 99%

A Novel Design and Implementation of Autonomous Robotic Car Based on ROS in Indoor Scenario

et al. 2020

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Pervasive deployment of autonomous vehicle all over the world is an undisputed trend in the future. Autonomous vehicle will inevitably play an essential role in decreasing traffic jams, reducing threats from driving while intoxicated (DWI), and assisting the handicapped to get around. At the same time, the new energy vehicles (NEV) especially the electromobile is gradually adopted by several governments like Germany, USA and China as compulsive transportation tools from the standpoint of environmental friendliness. Taking these two crucial trends into consideration, this article proposes a scheme of autonomous robotic car based on robot operation system (ROS) in electromobile-like car which can be easily transplanted to commercial electromobile. In this article, the design and implementation of robotic car are demonstrated in detail which involves overall architecture of functional modules, hardware design, obstacle avoidance, localization and mapping, land detection and tracking, velocity control and indoor navigation. All software modules and hardware are integrated in NVIDIA Jetson TX1 and TRAXXAS car.

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Architecture of autonomous vehicle simulation and control framework

Cited by 6 publications

References 15 publications

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

A Novel Design and Implementation of Autonomous Robotic Car Based on ROS in Indoor Scenario

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