Related papers: Cyber-Physical Mobility Lab: An Open-Source Platfo…
microMVP is an affordable, portable, and open source micro-scale mobile robot platform designed for robotics research and education. As a complete and unique multi-vehicle platform enabled by 3D printing and the maker culture, microMVP can…
The system of connected vehicle to vehicle and vehicle to infrastructure can be considered as a wireless cyberphysical system of systems (Wireless CPSoS), which will be provided with the high ability of adaptive control on system of…
The increasing demand for emerging mobility systems with connected and automated vehicles has imposed the necessity for quality testing environments to support their development. In this paper, we introduce a Unity-based virtual simulation…
A mobility map, which provides maximum achievable speed on a given terrain, is essential for path planning of autonomous ground vehicles in off-road settings. While physics-based simulations play a central role in creating next-generation,…
At present, Connected Autonomous Vehicles (CAVs) have begun to open road testing around the world, but their safety and efficiency performance in complex scenarios is still not satisfactory. Cooperative driving leverages the connectivity…
Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…
Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…
This work describes the setup of an advanced technical infrastructure for collaborative software development (CDE) in large, distributed projects based on GitLab. We present its customization and extension, additional features and processes…
We introduce a unique experimental testbed that consists of a fleet of 16 miniature Ackermann-steering vehicles. We are motivated by a lack of available low-cost platforms to support research and education in multi-car navigation and…
The software powering today's vehicles surpasses mechatronics as the dominating engineering challenge due to its fast evolving and innovative nature. In addition, the software and system architecture for upcoming vehicles with automated…
As the automotive industry focuses its attention more and more towards the software functionality of vehicles, techniques to deliver new software value at a fast pace are needed. Continuous Experimentation, a practice coming from the…
Cyber-physical systems increasingly rely on distributed computing platforms where sensing, computing, actuation, and communication resources are shared by a multitude of applications. Such `cyber-physical cloud computing platforms' present…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical…
Our middleware approach, Context-Oriented Software Middleware (COSM), supports context-dependent software with self-adaptability and dependability in a mobile computing environment. The COSM-middleware is a generic and platform-independent…
This paper presents DMV-AVP, a distributed simulation of Multi-Vehicle Autonomous Valet Parking (AVP). The system was implemented as an application of the Distributed Multi-Autonomous Vehicle Architecture (DMAVA) for synchronized multi-host…
Prototyping and validating hardware-software components, sub-systems and systems within the intelligent transportation system-of-systems framework requires a modular yet flexible and open-access ecosystem. This work presents our attempt…
When academic researchers develop and validate autonomous driving algorithms, there is a challenge in balancing high-performance capabilities with the cost and complexity of the vehicle platform. Much of today's research on autonomous…
Compute-In-Memory (CiM) is a promising solution to accelerate Deep Neural Networks (DNNs) as it can avoid energy-intensive DNN weight movement and use memory arrays to perform low-energy, high-density computations. These benefits have…
While privacy concerns entice connected and automated vehicles to incorporate on-board federated learning (FL) solutions, an integrated vehicle-to-everything communication with heterogeneous computation power aware learning platform is…