Teaching Autonomous Systems at 1/10th-scale: Design of the F1/10 Racecar, Simulators and Curriculum
Teaching Autonomous Systems at 1/10th-scale: Design of the F1/10 Racecar, Simulators and Curriculum
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以 1/10 比例教授自主系统：F1/10 赛车、模拟器和课程的设计
DOI：
10.1145/3328778.3366796
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Abbas, Houssam
中科院分区：
文献类型：
--
作者：
Agnihotri, Abhijeet;O'Kelly, Matthew;Mangharam, Rahul;Abbas, Houssam
自主系统的教学具有挑战性，因为它是一个快速发展的跨学科领域，需要在物理平台上不断验证理论。为了使自动驾驶车辆（AV）正确运行，它需要满足安全和性能属性，这些属性取决于操作上下文和与环境代理的交互，这可能难以预测和捕获。本文介绍了一个高年级本科课程的设计，编程和1/10的规模自主赛车汽车的比赛。我们在高度互动和竞争的环境中，在感知，规划和控制的极限上探索AV安全和性能概念。该课程包括以道德为中心的设计理念，旨在让学生参与分析自治系统的道德和社会经济影响。我们的假设是，1/10美元规模的自动驾驶汽车足以捕捉到真实的自动驾驶汽车的缩放动力学，感知模式，决策和风险，但它是一个安全且可访问的平台，可以教授自动驾驶系统的基础知识。我们描述的设计，部署和反馈，从两个产品的这个类的大学高年级学生和研究生，开源社区的发展在36所大学，国际赛车比赛，学生的技能提高和就业能力，并建议量身定制，以各种设置。
Teaching autonomous systems is challenging because it is a rapidly advancing cross-disciplinary field that requires theory to be continually validated on physical platforms. For an autonomous vehicle (AV) to operate correctly, it needs to satisfy safety and performance properties that depend on the operational context and interaction with environmental agents, which can be difficult to anticipate and capture. This paper describes a senior undergraduate level course on the design, programming and racing of 1/10th-scale autonomous race cars. We explore AV safety and performance concepts at the limits of perception, planning, and control, in a highly interactive and competitive environment. The course includes an ethics-centered design philosophy, which seeks to engage the students in an analysis of ethical and socio-economic implications of autonomous systems. Our hypothesis is that $1/10th-scale autonomous vehicles sufficiently capture the scaled dynamics, sensing modalities, decision making and risks of real autonomous vehicles, but are a safe and accessible platform to teach the foundations of autonomous systems. We describe the design, deployment and feedback from two offerings of this class for college seniors and graduate students, open-source community development across 36 universities, international racing competitions, student skill enhancement and employability, and recommendations for tailoring it to various settings.
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影响因子：
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作者：
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通讯作者：
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影响因子：
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作者：
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影响因子：
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作者：
D. J. Frank;K. L. Kolotka;Andrew Phillips;M. Schulz;Clare Rigney;Allen Benjamin Drown;Robert G. Stricko;K. Harper;R. Freuler
通讯作者：
R. Freuler
DOI：
10.1007/978-3-030-78401-0_7
发表时间：
2021
期刊：
Separable Optimization
影响因子：
--
作者：
Eloy Irigoyen;Ekaitz Larzabal;Rafael Priego
通讯作者：
Rafael Priego