Related papers: Prototyping Vehicle Control Applications Using the…
Teleoperation is a key enabler for future mobility, supporting Automated Vehicles in rare and complex scenarios beyond the capabilities of their automation. Despite ongoing research, no open source software currently combines Remote…
In this paper we apply a model-driven engineering approach to designing domain-specific solutions for robot control system development. We present a case study of the complete process, including identification of the domain meta-model,…
The next chapter of the robotics revolution is well underway with the deployment of robots for a broad range of commercial use-cases. Even in a myriad of applications and environments, there exists a common vocabulary of components that…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2…
Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
With increasing complexity of Automated Driving Systems (ADS), ensuring their safety and reliability has become a critical challenge. The Verification and Validation (V&V) of these systems are particularly demanding when AI components are…
As autonomous or semi-autonomous vehicles are deployed on the roads, they will have to eventually start communicating with each other in order to achieve increased efficiency and safety. Current approaches in the control of collaborative…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
My project tackles the question of whether Ray can be used to quickly train autonomous vehicles using a simulator (Carla), and whether a platform robust enough for further research purposes can be built around it. Ray is an open-source…
Simulation is one of the most essential parts in the development stage of automotive software. However, purely virtual simulations often struggle to accurately capture all real-world factors due to limitations in modeling. To address this…
A traffic system is a random and complex large system, which is difficult to conduct repeated modelling and control research in a real traffic environment. With the development of automatic driving technology, the requirements for testing…
Autonomous vehicles are slowly becoming reality thanks to the efforts of many academic and industrial organizations. Due to the complexity of the software powering these systems and the dynamicity of the development processes, an…
Ensuring a car's internal systems are free from security vulnerabilities is of utmost importance, especially due to the relationship between security and other properties, such as safety and reliability. We provide the starting point for a…
The automotive industry is currently undergoing a major transformation with respect to the Electric/Electronic (E/E) and software architecture, driven by a significant increase in the complexity of the technological stack within a vehicle.…
Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We…
When designing simulation models, it is favourable to reuse existing models as far as possible to reduce the effort from the first idea to simulation results. Thanks to the OMNeT++ community, there are several toolboxes available covering a…
This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First,…