A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality
A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality
复制标题
用于在仿真和现实中研究和比较机器人自主算法的软件工具包和硬件平台
DOI：
10.48550/arxiv.2206.06537
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
D. Negrut
中科院分区：
文献类型：
--
作者：
A. Elmquist;Aaron Young;Ishaan Mahajan;Kyle Fahey;Abhiraj Dashora;Sriram Ashokkumar;Stefan Caldararu;Victor Freire;Xiangru Xu;R. Serban;D. Negrut
- 我们描述一个软件框架和一个串联的硬件平台，用于仿真和现实中的机器人自治算法的设计和分析。组件：C ++车辆仿真框架（Chrono）的ROS 2接口，该框架提供了高纤维车辆/跟踪的车辆和传感器模拟；设计和测试；一个可以可视化的开发生态系统，以及在感知，状态估计，路径计划和控件中进行的硬件实验。用于计算，传感器和跟踪是允许对算法和传感器进行物理测试和改进。在模拟环境中，可以在模拟和现实中测试和比较相同的算法和自主堆栈。向上，部署并用于改善移动应用程序的自主权。
—We describe a software framework and a hard- ware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS) independent, has three main components: a ROS 2 interface to a C++ vehicle simulation framework (Chrono), which provides high-fidelity wheeled/tracked vehicle and sensor simulation; a basic ROS 2-based autonomy stack for algorithm design and testing; and, a development ecosystem which en- ables visualization, and hardware-in-the-loop experimentation in perception, state estimation, path planning, and controls. The accompanying hardware platform is a 1/6th scale vehicle augmented with reconfigurable mountings for computing, sensing, and tracking. Its purpose is to allow algorithms and sensor configurations to be physically tested and improved. Since this vehicle platform has a digital twin within the simulation environment, one can test and compare the same algorithms and autonomy stack in simulation and reality. This platform has been built with an eye towards characterizing and managing the simulation-to-reality gap. Herein, we describe how this platform is set up, deployed, and used to improve autonomy for mobility applications.
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影响因子：
3.4
作者：
Weihua Hu;Zhenhao Zhou;S. Chandler;D. Apostolopoulos;K. Kamrin;R. Serban;D. Negrut
通讯作者：
Weihua Hu;Zhenhao Zhou;S. Chandler;D. Apostolopoulos;K. Kamrin;R. Serban;D. Negrut
SynChrono：一个可扩展、基于物理的仿真平台，用于测试自动驾驶车辆和/或机器人组
DOI：
10.1109/iros45743.2020.9341585
发表时间：
2020
期刊：
IROS
影响因子：
--
作者：
Taves, Jay;Elmquist, Asher;Young, Aaron;Serban, Radu;Negrut, Dan
通讯作者：
Negrut, Dan
DOI：
10.1146/annurev-control-072220-093055
发表时间：
2021-01-01
期刊：
ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, VOL 4, 2021
影响因子：
--
作者：
Liu, C. Karen;Negrut, Dan
通讯作者：
Negrut, Dan
DOI：
10.1115/1.4050080
发表时间：
2021-04
期刊：
--
影响因子：
--
作者：
A. Elmquist;R. Serban;D. Negrut
通讯作者：
A. Elmquist;R. Serban;D. Negrut