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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Journal ArticleDOI
Deadline Miss Early Detection Method for Mixed Timer-Driven and Event-Driven DAG Tasks
TL;DR: In this paper , a real-time self-driving system is represented as a mixed timer-driven and event-driven directed acyclic graph and an early detection method for deadline misses by deriving a time constraint for each node is proposed.
Journal ArticleDOI
Conceptual model of distributed architecture for control of modular robots
TL;DR: In this paper , an innovative concept for optimizing the control of robots by using service-oriented architectures is presented based on this concept, an example of mobile robot control through computer vision module is presented, it can be seen that many autonomous and semi-autonomous functions can be included in one robot, so that it is very easy to be controlled by man or to self-control.
Proceedings ArticleDOI
Splash on ROS 2: A Runtime Software Framework for Autonomous Machines*
TL;DR: Zhang et al. as discussed by the authors proposed to augment ROS 2 with the Splash programming framework and host Splash on top of the ROS 2 software stack by conducting model conversion between Splash and ROS 2.
Proceedings Article
Navigation and Task Planning of a Mobile Robot under ROS Environment: A Case Study Using AutoRace Challenge
Ding-Ruei Shen,Hong-Liang Chin,Chih-Hung Tu,Jhao-Sian Chih,Vojtech Venglar,Kuo-Shen Chen,J. Krejsa,Stanislav Vechet +7 more
TL;DR: In this article, a ROS-based mobile robot, Turtlebot Burger, is hired as the development platform and contest vehicle for the AutoRace challenge, in which mobile robots must recognize a designated track, to reach the destination with minimum time and numbers of faults.
Journal ArticleDOI
Analyzing Factors Influencing Situation Awareness in Autonomous Vehicles—A Survey
TL;DR: In this article , the influence of mandatory factors like data pre-processing and data fusion along with situation awareness toward effective decision-making in the AVs are analyzed from various perceptive, to pick the major hiccups.
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.