Related papers: Prototyping Vehicle Control Applications Using the…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehicle) Testbed: a research testbed comprised of a distributed simulation-based autonomous vehicle, with straightforward transition to hardware in the loop testing and…
The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…
Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
This paper presents a simulation based control architecture that integrates Webots and Simulink for the development and testing of robotic systems. Using Webots for 3D physics based simulation and Simulink for control system design, real…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Autonomous vehicle safety and reliability are the paramount requirements when developing autonomous vehicles. These requirements are guaranteed by massive functional and performance tests. Conducting these tests on real vehicles is…
Autonomous vehicles are the culmination of advances in many areas such as sensor technologies, artificial intelligence (AI), networking, and more. This paper will introduce the reader to the technologies that build autonomous vehicles. It…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
The development of safety applications for Connected Automated Vehicles requires testing in many different scenarios. However, the recreation of test scenarios for evaluating safety applications is a very challenging task. This is mainly…
Control theory is an important cornerstone of the robotics field and is considered a fundamental subject in an undergraduate and postgraduate robotics curriculum. Furthermore, project-based learning has shown significant benefits in…
We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
Future mobility systems and their components are increasingly defined by their software. The complexity of these cooperative intelligent transport systems (C-ITS) and the everchanging requirements posed at the software require continual…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…
Virtual testing has emerged as an effective approach to accelerate the deployment of automated driving systems. Nevertheless, existing simulation toolchains encounter difficulties in integrating rapid, automated scenario generation with…
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…