Related papers: One Stack to Rule them All: To Drive Automated Veh…
Autonomous driving is a complex undertaking. A common approach is to break down the driving task into individual subtasks through modularization. These sub-modules are usually developed and published separately. However, if these…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such as miles between disengagement, and calls for approaches…
This work presents AutoDRIVE, a comprehensive research and education platform for implementing and validating intelligent transportation algorithms pertaining to vehicular autonomy as well as smart city management. It is an openly…
Although many research vehicle platforms for autonomous driving have been built in the past, hardware design, source code and lessons learned have not been made available for the next generation of demonstrators. This raises the efforts for…
Small-scale autonomous vehicle platforms provide a cost-effective environment for developing and testing advanced driving systems. However, specific configurations within this scale are underrepresented, limiting full awareness of their…
Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…
As highly automated driving is transitioning from single-vehicle closed-access testing to commercial deployments of public ride-hailing in selected areas (e.g., Waymo), automated driving and connected cooperative intelligent transport…
Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary…
Autonomous racing in robotics combines high-speed dynamics with the necessity for reliability and real-time decision-making. While such racing pushes software and hardware to their limits, many existing full-system solutions necessitate…
This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and…
Autonomous vehicle (AV) stacks are typically built in a modular fashion, with explicit components performing detection, tracking, prediction, planning, control, etc. While modularity improves reusability, interpretability, and…
The way to full autonomy of public road vehicles requires the step-by-step replacement of the human driver, with the ultimate goal of replacing the driver completely. Eventually, the driving software has to be able to handle all situations…
This paper presents the algorithms and system architecture of an autonomous racecar. The introduced vehicle is powered by a software stack designed for robustness, reliability, and extensibility. In order to autonomously race around a…
Recently, there have been many advances in autonomous driving society, attracting a lot of attention from academia and industry. However, existing works mainly focus on cars, extra development is still required for self-driving truck…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
AutoDRIVE is envisioned to be an integrated research and education platform for scaled autonomous vehicles and related applications. This work is a stepping-stone towards achieving the greater goal of realizing such a platform.…
We describe the computing tasks involved in autonomous driving, examine existing autonomous driving computing platform implementations. To enable autonomous driving, the computing stack needs to simultaneously provide high performance, low…
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…
Despite the numerous successes of machine learning over the past decade (image recognition, decision-making, NLP, image synthesis), self-driving technology has not yet followed the same trend. In this paper, we study the history,…