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Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, high-fidelity visualizations…

Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude…

The latest advances in the design of vehicles with the adaptive level of automation pose new challenges in the vehicle-driver interaction. Safety requirements underline the need to explore optimal cockpit architectures with regard to driver…

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…

This paper presents Virtual Simulation Objects (VSO) concept which forms theoretical basis for building tools and framework that is developed for system-level simulations using existing software modules available within…

Recently, we developed a dynamic distributed end-to-end vehicle routing system (E2ECAV) using a network of intelligent intersections and level 5 CAVs (Djavadian & Farooq, 2018). The case study of the downtown Toronto Network showed that…

End-to-end approaches to autonomous driving have high sample complexity and are difficult to scale to realistic urban driving. Simulation can help end-to-end driving systems by providing a cheap, safe, and diverse training environment. Yet…

Traffic simulation is an efficient and cost-effective way to test Autonomous Vehicles (AVs) in a complex and dynamic environment. Numerous studies have been conducted for AV evaluation using traffic simulation over the past decades.…

Autonomous driving promises safer roads, reduced congestion, and improved mobility, yet validating these systems across diverse conditions remains a major challenge. Real-world testing is expensive, time-consuming, and sometimes unsafe,…

This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…

Data for training learning-enabled self-driving cars in the physical world are typically collected in a safe, normal environment. Such data distribution often engenders a strong bias towards safe driving, making self-driving cars unprepared…

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world…

Reliable and efficient communication is one of the key requirements for the deployment of self-driving cars. Consequently, researchers and developers require efficient and precise tools for the parallel development of vehicular mobility and…

The long-tail distribution of real driving data poses challenges for training and testing autonomous vehicles (AV), where rare yet crucial safety-critical scenarios are infrequent. And virtual simulation offers a low-cost and efficient…

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…

Autonomous driving system development is critically dependent on the ability to replay complex and diverse traffic scenarios in simulation. In such scenarios, the ability to accurately simulate the vehicle sensors such as cameras, lidar or…

During the design phase of products and before going into production, it is necessary to verify the presence of mechanical plays, tolerances, and encumbrances on production mockups. This work introduces a multi-modal system that allows…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Spinal cord injuries generally result in sensory and mobility impairments, with torso instability being particularly debilitating. Existing torso stabilisers are often rigid and restrictive. We present an early investigation into a…

OdoViz is a reactive web-based tool for 3D visualization and processing of autonomous vehicle datasets designed to support common tasks in visual place recognition research. The system includes functionality for loading, inspecting,…