F1_Tenth_Course_Report_Group_C

2018 ◽  
Author(s):  
Yi Chen ◽  
Sagar Manglani ◽  
Roberto Merco ◽  
Drew Bolduc

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

2019 ◽  
Vol 25 (5) ◽  
pp. 363-373 ◽  
Author(s):  
Jong-Hang Lee ◽  
Kyung-Jae Ahn ◽  
Taek-Gyu Lee ◽  
Kyung-In Min ◽  
Oh-Sung Kwon ◽  
...  

SIMULATION ◽  
2017 ◽  
Vol 93 (9) ◽  
pp. 771-780 ◽  
Author(s):  
Erkan Uslu ◽  
Furkan Çakmak ◽  
Nihal Altuntaş ◽  
Salih Marangoz ◽  
Mehmet Fatih Amasyalı ◽  
...  

Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.


Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1369
Author(s):  
Hyojun Lee ◽  
Jiyoung Yoon ◽  
Min-Seong Jang ◽  
Kyung-Joon Park

To perform advanced operations with unmanned aerial vehicles (UAVs), it is crucial that components other than the existing ones such as flight controller, network devices, and ground control station (GCS) are also used. The inevitable addition of hardware and software to accomplish UAV operations may lead to security vulnerabilities through various vectors. Hence, we propose a security framework in this study to improve the security of an unmanned aerial system (UAS). The proposed framework operates in the robot operating system (ROS) and is designed to focus on several perspectives, such as overhead arising from additional security elements and security issues essential for flight missions. The UAS is operated in a nonnative and native ROS environment. The performance of the proposed framework in both environments is verified through experiments.


2022 ◽  
Vol 0 (0) ◽  
Author(s):  
Hannes Weinreuter ◽  
Balázs Szigeti ◽  
Nadine-Rebecca Strelau ◽  
Barbara Deml ◽  
Michael Heizmann

Abstract Autonomous driving is a promising technology to, among many aspects, improve road safety. There are however several scenarios that are challenging for autonomous vehicles. One of these are unsignalized junctions. There exist scenarios in which there is no clear regulation as to is allowed to drive first. Instead, communication and cooperation are necessary to solve such scenarios. This is especially challenging when interacting with human drivers. In this work we focus on unsignalized T-intersections. For that scenario we propose a discrete event system (DES) that is able to solve the cooperation with human drivers at a T-intersection with limited visibility and no direct communication. The algorithm is validated in a simulation environment, and the parameters for the algorithm are based on an analysis of typical human behavior at intersections using real-world data.


Author(s):  
A. V. Satyanarayana ◽  
K. Hareesh Kumar ◽  
Jeevana Jyothi Pujari ◽  
Chitturi Prasad ◽  
Sunkari Venkata Ramakrishna ◽  
...  

Author(s):  
Alexander Billington ◽  
Gabriel Walton ◽  
Joseph Whitbread ◽  
Michael Mangan

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