This article introduces an open-source software stack designed for autonomous 1:10 scale model vehicles.Initially developed for the Bosch Future Mobility Challenge(BFMC)student competition,this versatile software stac...This article introduces an open-source software stack designed for autonomous 1:10 scale model vehicles.Initially developed for the Bosch Future Mobility Challenge(BFMC)student competition,this versatile software stack is applicable to a variety of autonomous driving competitions.The stack comprises perception,planning,and control modules,each essential for precise and reliable scene understanding in complex environments such as a miniature smart city in the context of BFMC.Given the limited computing power of model vehicles and the necessity for low-latency real-time applications,the stack is implemented in C++,employs YOLO Version 5 s for environmental perception,and leverages the state-of-the-art Robot Operating System(ROS)for inter-process communication.We believe that this article and the accompanying open-source software will be a valuable resource for future teams participating in autonomous driving student competitions.Our work can serve as a foundational tool for novice teams and a reference for more experienced participants.The code and data are publicly available on GitHub.展开更多
To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster an...To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.展开更多
As one of Qo S(Quality of Service) metrics, delay is critical important to delay sensitive applications, such as interactive video, network game and online surgery. In this paper, we exploit SDN(Software Defined Netwo...As one of Qo S(Quality of Service) metrics, delay is critical important to delay sensitive applications, such as interactive video, network game and online surgery. In this paper, we exploit SDN(Software Defined Networking) advantages to solve delay Qo S problem. Our work mainly focuses on SDN based queuing delay estimation with real traffic and end-to-end delay control. First, we propose a queuing estimation model and extended it for end-to-end delay of the whole path. It is proved to be feasible and accurate with experimental results in SDN environment. Second, in order to demonstrate the use of our proposed model, we also implement an end-to-end delay control application in SDN. It fulfills specific delay Qo S requirements by dynamically switching flows to a suitable queue based on estimation results and delay requirements.展开更多
文摘This article introduces an open-source software stack designed for autonomous 1:10 scale model vehicles.Initially developed for the Bosch Future Mobility Challenge(BFMC)student competition,this versatile software stack is applicable to a variety of autonomous driving competitions.The stack comprises perception,planning,and control modules,each essential for precise and reliable scene understanding in complex environments such as a miniature smart city in the context of BFMC.Given the limited computing power of model vehicles and the necessity for low-latency real-time applications,the stack is implemented in C++,employs YOLO Version 5 s for environmental perception,and leverages the state-of-the-art Robot Operating System(ROS)for inter-process communication.We believe that this article and the accompanying open-source software will be a valuable resource for future teams participating in autonomous driving student competitions.Our work can serve as a foundational tool for novice teams and a reference for more experienced participants.The code and data are publicly available on GitHub.
基金Supported by the National Natural Science Foundation of China under Grant No.50909025
文摘To provide a simulation system platform for designing and debugging a small autonomous underwater vehicle＇s （AUV） motion controller, a six-degree of freedom （6-DOF） dynamic model for AUV controlled by thruster and fins with appendages is examined. Based on the dynamic model, a simulation system for the AUV＇s motion is established. The different kinds of typical motions are simulated to analyze the motion performance and the maneuverability of the AUV. In order to evaluate the influences of appendages on the motion performance of the AUV, simulations of the AUV with and without appendages are performed and compared. The results demonstrate the AUV has good maneuverability with and without appendages.
基金supported by the project of 111 Intelligence Introduction for Innovation at Communication University of ChinaNSFC under grant No.61371191,No.61472389 and No.61201236ETH Zurich for the valuable discussion about H2020 MAMI project related to TCP modeling in this work
文摘As one of Qo S(Quality of Service) metrics, delay is critical important to delay sensitive applications, such as interactive video, network game and online surgery. In this paper, we exploit SDN(Software Defined Networking) advantages to solve delay Qo S problem. Our work mainly focuses on SDN based queuing delay estimation with real traffic and end-to-end delay control. First, we propose a queuing estimation model and extended it for end-to-end delay of the whole path. It is proved to be feasible and accurate with experimental results in SDN environment. Second, in order to demonstrate the use of our proposed model, we also implement an end-to-end delay control application in SDN. It fulfills specific delay Qo S requirements by dynamically switching flows to a suitable queue based on estimation results and delay requirements.
