Proceedings ArticleDOI
Robot operating system: A modular software framework for automated driving
Andre-Marcel Hellmund,Sascha Wirges,Omer Sahin Tas,Claudio Bandera,Niels Ole Salscheider +4 more
- pp 1564-1570
TLDR
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.read more
Citations
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Proceedings ArticleDOI
Robots Meet Children, Development of Semi-Autonomous Control Systems for Children-Robot Interaction in the Wild
TL;DR: This paper shows how the integration of perceptual robot control and decision-making architecture can enable the creation of semi-autonomous robots for Children-Robot Interaction (CRI) “in the wild”.
Proceedings ArticleDOI
SEPAD – Security Evaluation Platform for Autonomous Driving
Daniel Zelle,Roland Rieke,Christian Plappert,Christoph Krauß,Dmitry Levshun,Andrey Chechulin +5 more
TL;DR: A new security evaluation platform called SEPAD is proposed and a dedicated development process for testing security mechanisms with it and allows to model realistic E/E architectures where the developed security solutions can be integrated and evaluated without causing safety risks for the researcher or other road users.
Proceedings ArticleDOI
Pushing ROS towards the Dark Side: A ROS-based Co-Simulation Architecture for Mixed-Reality Test Systems for Autonomous Vehicles
Marc Rene Zofka,Lars Töttel,Maximilian Zipfl,Marc Heinrich,Tobias Fleck,Patrick Schulz,J. Marius Zollner +6 more
TL;DR: This work proposes the concept of a co-simulation architecture built upon the Robot Operating System (ROS) for both coupling and for integration of different domain expert models, immersion and stimulation of real pedestrians as well as AD systems into a common test system, which enables a unified way of generating ground truth for the performance assessment of multi-sensorial AD systems.
Proceedings ArticleDOI
From Level Four to Five: Getting rid of the Safety Driver with Diagnostics in Autonomous Driving
TL;DR: The issues of autonomous driving in modern-day real-life use cases are captured and what a diagnostic system needs to look like to tackel these challenges are defined.
Journal ArticleDOI
Vehículos de guiado autónomo (agv) en aplicaciones industriales: una revisión
TL;DR: A review of the state of the art of autonomous guidance vehicles (AGV) to transport objects and raw material in industrial applications is presented in this article, focusing on the identification of place, application in different environments, vehicle control and description of the software systems used for the programming of mobile robots, according to the requirements or needs to be resolved.
References
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Proceedings Article
ROS: an open-source Robot Operating System
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.
Journal ArticleDOI
Stanley: The Robot that Won the DARPA Grand Challenge
Sebastian Thrun,Michael Montemerlo,Hendrik Dahlkamp,David Stavens,Andrei Aron,James Diebel,Philip Fong,John Gale,Morgan Halpenny,Gabriel M. Hoffmann,Kenny Lau,Celia M. Oakley,Mark Palatucci,Vaughan R. Pratt,Pascal Stang,Sven Strohband,Cedric Dupont,Lars-Erik Jendrossek,Christian Koelen,Charles Markey,Carlo Rummel,Joe van Niekerk,Eric Jensen,Philippe Alessandrini,Gary Bradski,Bob Davies,Scott M. Ettinger,Adrian Kaehler,Ara V. Nefian,Pamela Mahoney +29 more
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.
Journal ArticleDOI
Three Decades of Driver Assistance Systems: Review and Future Perspectives
Klaus Bengler,Klaus Dietmayer,Berthold Färber,Markus Maurer,Christoph Stiller,Hermann Winner +5 more
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.
Patent
Robot operating system
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.