Duckietown: An open, inexpensive and flexible platform for autonomy education and research

Liam Paull*, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cap, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry Yershov, Hang ZhaoMichael Benjamin, Christopher Carr, Maria Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan How, John Leonard, Andrea Censi

*Corresponding author for this work

研究成果: Conference contribution同行評審

49 引文 斯高帕斯(Scopus)

摘要

Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles ('Duckiebots') built from off-the-shelf components, and cities ('Duckietowns') complete with roads, signage, traffic lights, obstacles, and citizens (duckies) in need of transportation. The Duckietown platform offers a wide range of functionalities at a low cost. Duckiebots sense the world with only one monocular camera and perform all processing onboard with a Raspberry Pi 2, yet are able to: follow lanes while avoiding obstacles, pedestrians (duckies) and other Duckiebots, localize within a global map, navigate a city, and coordinate with other Duckiebots to avoid collisions. Duckietown is a useful tool since educators and researchers can save money and time by not having to develop all of the necessary supporting infrastructure and capabilities. All materials are available as open source, and the hope is that others in the community will adopt the platform for education and research.

原文English
主出版物標題ICRA 2017 - IEEE International Conference on Robotics and Automation
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1497-1504
頁數8
ISBN(電子)9781509046331
DOIs
出版狀態Published - 21 七月 2017
事件2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
持續時間: 29 五月 20173 六月 2017

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
國家Singapore
城市Singapore
期間29/05/173/06/17

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