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Proceedings ArticleDOI

Robot operating system: A modular software framework for automated driving

01 Nov 2016-pp 1564-1570
TL;DR: The requirements for software frameworks for automated driving projects are analyzed and the communication overhead of ROS is analyzed quantitatively in various configurations showing its applicability for systems with a high data load.
Abstract: Automated vehicles are complex systems with a high degree of interdependencies between its components. This complexity sets increasing demands for the underlying software framework. This paper firstly analyzes the requirements for software frameworks. Afterwards an overview on existing software frameworks, that have been used for automated driving projects, is provided with an in-depth introduction into an emerging open-source software framework, the Robot Operating System (ROS). After discussing the main features, advantages and disadvantages of ROS, the communication overhead of ROS is analyzed quantitatively in various configurations showing its applicability for systems with a high data load.
Citations
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Journal ArticleDOI
TL;DR: This paper presents a motion planner that plans different maneuvers flexibly by augmenting the cost function with situation specific cost terms and describes the requirements of the 2016 GCDC and evaluates the authors' performance during the competition.
Abstract: This paper presents the concepts and methods utilized by Team AnnieWAY for the 2016 Grand Cooperative Driving Challenge. The paper introduces the automated vehicle BerthaOne . The vehicle, even though being based on the Bertha platform, distinguishes itself from its siblings by its software modules and algorithms. We, therefore, describe its system architecture and algorithms for perception, cooperation and motion planning. In Particular, we present a motion planner that plans different maneuvers flexibly by augmenting the cost function with situation specific cost terms. We subsequently describe the requirements of the 2016 GCDC and evaluate our performance during the competition.

56 citations


Cites background from "Robot operating system: A modular s..."

  • ...performance than current hard real time systems [14]....

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Proceedings ArticleDOI
26 Jun 2018
TL;DR: A multi vehicle simulation framework is presented that replaces conventional simulation agents, using a simple, rule-based behavior, with multiple instances of sophisticated behavior generation algorithms so that development, test and simulative evaluation of cooperative planning approaches is facilitated.
Abstract: While motion planning techniques for automated vehicles in a reactive and anticipatory manner have already been widely presented, cooperative motion planning has only been addressed recently. For the latter, interaction between traffic participants is crucial. Consequently, simulations where other traffic participants follow simple behavioral rules can no longer beused for development and evaluation. To close this gap, we present a multi vehicle simulation framework. Conventional simulation agents, using a simple, rule-based behavior, are replaced by multiple instances of sophisticated behavior generation algorithms. Thus, development, test and simulative evaluation of cooperative planning approaches is facilitated. The framework is implemented using the Robot Operating System (ROS) and its code will be released open source.

34 citations


Cites background or methods from "Robot operating system: A modular s..."

  • ...As the Robot Operating System (ROS) [12] already meets some of the required features natively, and it is well-suited for automated driving in general [13], we decided to use ROS as underlying middleware....

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  • ...Readers that are new to ROS are referred to [12] and [13] for a better understanding of the remainder of this work....

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Proceedings ArticleDOI
19 Oct 2020
TL;DR: In this paper, an open source framework for tele-operated driving research using low-cost off-the-shelf components is proposed, which is an extension of the open source simulator CARLA.
Abstract: Teledriving is a possible fallback mode to cope with failures of fully autonomous vehicles. One important requirement for teleoperated vehicles is a reliable low delay data transmission solution, which adapts to the current network conditions to provide the operator with the best possible situation awareness. Currently, there is no easily accessible solution for the evaluation of such systems and algorithms in a fully controllable environment available. To this end we propose an open source framework for teleoperated driving research using low-cost off-the-shelf components. The proposed system is an extension of the open source simulator CARLA, which is responsible for rendering the driving environment and providing reproducible scenario evaluation. As a proof of concept, we evaluated our teledriving solution against CARLA in remote and local driving scenarios. The proposed teledriving system leads to almost identical performance measurements for local and remote driving. In contrast, remote driving using CARLA's client server communication results in drastically reduced operator performance. Further, the framework provides an interface for the adaptation of the temporal resolution and target bitrate of the compressed video streams. The proposed framework reduces the required setup effort for teleoperated driving research in academia and industry.

29 citations

Proceedings ArticleDOI
01 Dec 2017
TL;DR: An indoor wheelchair autonomous exploration and navigation system with low cost and high reusability is realized in this paper.
Abstract: Aiming at the current situation of high cost, complicated construction and poor reusability of the autonomous navigation system, an indoor wheelchair autonomous exploration and navigation system with low cost and high reusability is realized in this paper The host computer program is based on the Robot Operating System (ROS), an extensible Arduino microcontroller is used to control wheelchair motors The wheelchair adopts two-wheel differential control structure Compared to expensive laser sensors, a cost-effective RGB-D camera is used to perceive environment The depth point cloud from RGB-D camera is cast to laser data and then used for map building and obstacle detection of Gmapping algorithm The position and orientation of wheelchair are estimated by Adaptive Monte Carlo Localization (AMCL) algorithm A* algorithm is applied to global path planning; Dynamic Window Approach (DWA) algorithm is used for local path planning Frontier-Based approach for autonomous exploration is used to explore unknown regions automatically Finally, an Android APP is developed to provide friendly human-computer interaction interfaces

25 citations


Cites background from "Robot operating system: A modular s..."

  • ...ROS is an open source framework, its main function is to provide a point-to-point communication mechanism, and a network that connects to all processes [5]....

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Proceedings ArticleDOI
01 Nov 2018
TL;DR: An iterative optimization approach to create highly accurate maps comprising any number of drives with constant computation complexity that enables a joint estimate of the trajectories and landmarks from numerous city-scaled passes within several hours on desktop computers.
Abstract: Current vision-based localization approaches enable reliable positioning in areas where global navigation satellite systems (GNSS) fail due to multipath and shadowing effects. These approaches require an up-to-date map. It seems promising to update such maps iteratively after passing the mapped area again. However, bundling more and more passes into the existing map leads to unbounded computation and memory complexity. Herein we propose an iterative optimization approach to create highly accurate maps comprising any number of drives with constant computation complexity. The optimization bases on keypoint correspondences matched between the recorded images from multiple drives. First, each new drive is reconstructed separately by a sliding window bundle-adjustment. Thereafter, the estimated trajectory is divided into disjoint clusters. To align the new drive to the current map, we optimize pairs of clusters which are interconnected through loop-closure or inter-drive correspondences. We derive pose differences from all clusters to estimate the final map poses. For global accuracy, we add GNSS measurements from a low cost receiver. We show in our experiments that the approach enables a joint estimate of the trajectories and landmarks from numerous city-scaled passes within several hours on desktop computers.

16 citations

References
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Proceedings Article
01 Jan 2009
TL;DR: This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
Abstract: This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.

8,387 citations


"Robot operating system: A modular s..." refers methods in this paper

  • ...The Robot Operating System (ROS) [15], [16] is an opensource software framework supporting the development of complex, but modular systems in a distributed computing environment....

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Journal ArticleDOI
TL;DR: The robot Stanley, which won the 2005 DARPA Grand Challenge, was developed for high‐speed desert driving without manual intervention and relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning.
Abstract: This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without human intervention. The robot’s software system relied predominately on state-of-the-art AI technologies, such as machine learning and probabilistic reasoning. This article describes the major components of this architecture, and discusses the results of the Grand Challenge race.

2,011 citations


"Robot operating system: A modular s..." refers methods in this paper

  • ...The interest in automated and cooperative driving research has been boosted by the DARPA Challenges [2], [3] and the Grand Cooperative Driving Challenge [4], respectively....

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Journal ArticleDOI
24 Oct 2014
TL;DR: This contribution provides a review of fundamental goals, development and future perspectives of driver assistance systems, and examines the progress incented by the use of exteroceptive sensors such as radar, video, or lidar in automated driving in urban traffic and in cooperative driving.
Abstract: This contribution provides a review of fundamental goals, development and future perspectives of driver assistance systems. Mobility is a fundamental desire of mankind. Virtually any society strives for safe and efficient mobility at low ecological and economic costs. Nevertheless, its technical implementation significantly differs among societies, depending on their culture and their degree of industrialization. A potential evolutionary roadmap for driver assistance systems is discussed. Emerging from systems based on proprioceptive sensors, such as ABS or ESC, we review the progress incented by the use of exteroceptive sensors such as radar, video, or lidar. While the ultimate goal of automated and cooperative traffic still remains a vision of the future, intermediate steps towards that aim can be realized through systems that mitigate or avoid collisions in selected driving situations. Research extends the state-of-the-art in automated driving in urban traffic and in cooperative driving, the latter addressing communication and collaboration between different vehicles, as well as cooperative vehicle operation by its driver and its machine intelligence. These steps are considered important for the interim period, until reliable unsupervised automated driving for all conceivable traffic situations becomes available. The prospective evolution of driver assistance systems will be stimulated by several technological, societal and market trends. The paper closes with a view on current research fields.

716 citations


"Robot operating system: A modular s..." refers background in this paper

  • ...Since the 1980s the research of automated vehicles has made tremendous progress [1] such that this field meanwhile has a thorough theoretic foundation for sensor processing, environment modeling, state estimation, tracking and vehicle control....

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01 Jan 2007

397 citations

Patent
12 Nov 2008
TL;DR: In this article, a robot operating system is designed simply and reasonably as a whole; the entire control box is made of shock-proof and heat-proof material, and can protect the parts inside well.
Abstract: The utility model relates to a robot operating system. A display screen is arranged inside and connected with a control box through a data line. In this way, the robot operating system is designed to be in an integrated structure. Both ends of the upper cap of the control box on the outer side are provided with lock catches respectively. After the control box is covered, the security of the upper cap and the lower cap of the control box is improved; the outer surface of the control box is provided with a handle so that the entire control box can be carried conveniently. Radiator fans are arranged on the left side and the right side of the control box respectively, and are used for radiating the heat generated inside the control box. The robot operating system is designed simply and reasonably as a whole; the entire control box is made of shock-proof and heat-proof material, and can protect the parts inside well. Accordingly, besides improving the safety, the robot operating system can be carried conveniently.

240 citations