Related papers: Scalable Supervisory Architecture for Autonomous R…
The potential benefits of autonomous systems have been driving intensive development of such systems, and of supporting tools and methodologies. However, there are still major issues to be dealt with before such development becomes…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
Efficient engineered systems require scalability. A scalable system has increasing performance with increasing system size. In an ideal case, the increase in performance (e.g., speedup) corresponds to the number of units that are added to…
Recently, numerous studies have investigated cooperative traffic systems using the communication among vehicle-to-everything (V2X). Unfortunately, when multiple autonomous vehicles are deployed while exposed to communication failure, there…
Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…
As modern system of systems (SoS) become increasingly adaptive and human centred, traditional architectures often struggle to support interoperability, reconfigurability, and effective human system interaction. This paper addresses these…
We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…
Physically-realistic simulated environments are powerful platforms for enabling measurable, replicable and statistically-robust investigation of complex robotic systems. Such environments are epitomised by the RoboCup simulation leagues,…
The development of composable systems architecture marks a significant shift in resource allocation and utilization within data centers. This paper presents a composable architecture scaling up to 32 GPUs on a single node, addressing the…
Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer safe, scalable, and engaging settings for testing driving…
Heated debates continue over the best autonomous driving framework. The classic modular pipeline is widely adopted in the industry owing to its great interpretability and stability, whereas the fully end-to-end paradigm has demonstrated…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
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,…
Runtime models provide a snapshot of a system at runtime at a desired level of abstraction. Via a causal connection to the modeled system and by employing model-driven engineering techniques, runtime models support schemes for (runtime)…
Achieving fully autonomous driving systems requires learning rational decisions in a wide span of scenarios, including safety-critical and out-of-distribution ones. However, such cases are underrepresented in real-world corpus collected by…
The proliferation of multi-core and multiprocessor-based computer systems has led to explosive development of parallel applications and hence the need for efficient schedulers. In this paper, we study hierarchical scheduling for malleable…
Designing a rate limiter that is simultaneously accurate, available, and scalable presents a fundamental challenge in distributed systems, primarily due to the trade-offs between algorithmic precision, availability, consistency, and…
We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…
The robot manipulation ecosystem currently faces issues with integrating open-source components and reproducing results. This limits the ability of the community to benchmark and compare the performance of different solutions to one another…
In this article, a new generic higher-order finite-element framework for massively parallel simulations is presented. The modular software architecture is carefully designed to exploit the resources of modern and future supercomputers.…