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
Making Bertha Cooperate–Team AnnieWAY’s Entry to the 2016 Grand Cooperative Driving Challenge
Omer Sahin Tas,Niels Ole Salscheider,Fabian Poggenhans,Sascha Wirges,Claudio Bandera,Marc Rene Zofka,Tobias Strauss,J. Marius Zollner,Christoph Stiller +8 more
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.
Proceedings ArticleDOI
CoInCar-Sim: An Open-Source Simulation Framework for Cooperatively Interacting Automobiles
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.
Proceedings ArticleDOI
TELECARLA: An Open Source Extension of the CARLA Simulator for Teleoperated Driving Research Using Off-the-Shelf Components
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.
Proceedings ArticleDOI
ROS-Based Indoor Autonomous Exploration and Navigation Wheelchair
Zhengang Li,Yong Xiong,Lei Zhou +2 more
TL;DR: An indoor wheelchair autonomous exploration and navigation system with low cost and high reusability is realized in this paper.
Proceedings ArticleDOI
Efficient Multi-Drive Map Optimization towards Life-long Localization using Surround View
Marc Sons,Christoph Stiller +1 more
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.
References
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Journal ArticleDOI
Development of Autonomous Car—Part II: A Case Study on the Implementation of an Autonomous Driving System Based on Distributed Architecture
TL;DR: The advantages of a distributed system architecture and the proposed development process are examined by conducting a case study on the autonomous system implementation by showing the implementation process of an autonomous driving system.
Journal ArticleDOI
Development of Autonomous Car—Part I: Distributed System Architecture and Development Process
TL;DR: The development process provides the guidelines to design and develop the distributed system of an autonomous vehicle, and a system platform is presented, which provides a common development environment by minimizing the dependence between the software and the computing hardware.
BookDOI
Robot Operating System (ROS) - The Complete Reference (Volume 1)
TL;DR: In this paper, the authors introduce the ROS basics and Foundations, Navigation, Motion and Planning, Service and Experimental Robots, Part IV Real-World Applications Deployment, Perception and Sensing, Part VI Software Engineering with ROS, Part VII ROS Simulation Frameworks and Part VII Advanced Tools for ROS
Book
Robot Operating System (ROS): The Complete Reference (Volume 1)
TL;DR: This book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications.
Journal ArticleDOI
Team AnnieWAY's Entry to the 2011 Grand Cooperative Driving Challenge
Andreas Geiger,Martin Lauer,Frank Moosmann,Benjamin Ranft,Holger H. Rapp,Christoph Stiller,Julius Ziegler +6 more
TL;DR: Algorithms for sensor fusion, vehicle-to-vehicle communication, and cooperative control are described for the autonomous vehicle known as AnnieWAY, which is the winning entry to the 2011 Grand Cooperative Driving Challenge.