Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment
Autor(a) principal: | |
---|---|
Data de Publicação: | 2023 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/23194 |
Resumo: | The domain of Intelligent Transportation Systems (ITS) is becoming a key candidate to enable safer and efficient mobility in IoT enabled smart cities. Several recent research in cooperative autonomous systems are conducted over simulation frameworks as real experiments are still too costly. In this paper, we present a platooning robotic test-bed platform with a 1/10 scale robotic vehicles that functions based on the input front commercially off the shelf technologies (COTS) such as Lidars and cameras. We also present an in-depth analysis of the functionalities and architecture of the proposed system. We also compare the performance of the aforementioned sensors in some real-life emulated scenarios. From our results, we were able to concur that the camera based platooning is able to perform well at partially observable scenarios than its counterpart. |
id |
RCAP_c30614d2dc16e44c8201210d51e9a35c |
---|---|
oai_identifier_str |
oai:recipp.ipp.pt:10400.22/23194 |
network_acronym_str |
RCAP |
network_name_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository_id_str |
7160 |
spelling |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment230402Intelligent transportation systemsPlatooningIoTThe domain of Intelligent Transportation Systems (ITS) is becoming a key candidate to enable safer and efficient mobility in IoT enabled smart cities. Several recent research in cooperative autonomous systems are conducted over simulation frameworks as real experiments are still too costly. In this paper, we present a platooning robotic test-bed platform with a 1/10 scale robotic vehicles that functions based on the input front commercially off the shelf technologies (COTS) such as Lidars and cameras. We also present an in-depth analysis of the functionalities and architecture of the proposed system. We also compare the performance of the aforementioned sensors in some real-life emulated scenarios. From our results, we were able to concur that the camera based platooning is able to perform well at partially observable scenarios than its counterpart.This work was supported by National Funds through FCT/MCTES (Portuguese Foundation for Science and Technology), within the CISTER Research Unit (UIDP/UIDB/04234/2020); by the European Regional Development Fund (ERDF) through the Operational Competitiveness Programme and Internationalization (COMPETE 2020) under the PT2020 Partnership Agreement and the Portuguese Foundation for Science and Technology (FCT) and the Portuguese National Innovation Agency (ANI), under the CMU Portugal partnership, within project POCI-01- 0247-FEDER-045912 (FLOYD); by ERDF through the Norte Portugal Regional Operational Programme (NORTE 2020), under the PORTUGAL 2020 Partnership Agreement, within project NORTE-01-0145-FEDER-000062 (RETINA); and by FCT and the EU ECSEL JU under the H2020 Framework Programme, within project ECSEL/0010/2019, JU grant nr. 876019 (ADACORSA). The JU receives support from the European Union’s Horizon 2020 research and innovation programme and Germany, Netherlands, Austria, France, Sweden, Cyprus, Greece, Lithuania, Portugal, Italy, Finland, Turkey. The ECSEL JU and the European Commission are not responsible for the content on this paper or any use that may be made of the information it contains.Repositório Científico do Instituto Politécnico do PortoKurunathan, John HarrisonSantos, JoséMoreira, DuarteSantos, Pedro Miguel2023-06-122035-01-01T00:00:00Z2023-06-12T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/23194engmetadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-07-12T01:45:45Zoai:recipp.ipp.pt:10400.22/23194Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T18:04:48.091675Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment 230402 |
title |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
spellingShingle |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment Kurunathan, John Harrison Intelligent transportation systems Platooning IoT |
title_short |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
title_full |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
title_fullStr |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
title_full_unstemmed |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
title_sort |
Towards Safe Cooperative Autonomous Platoon systems using COTS Equipment |
author |
Kurunathan, John Harrison |
author_facet |
Kurunathan, John Harrison Santos, José Moreira, Duarte Santos, Pedro Miguel |
author_role |
author |
author2 |
Santos, José Moreira, Duarte Santos, Pedro Miguel |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Kurunathan, John Harrison Santos, José Moreira, Duarte Santos, Pedro Miguel |
dc.subject.por.fl_str_mv |
Intelligent transportation systems Platooning IoT |
topic |
Intelligent transportation systems Platooning IoT |
description |
The domain of Intelligent Transportation Systems (ITS) is becoming a key candidate to enable safer and efficient mobility in IoT enabled smart cities. Several recent research in cooperative autonomous systems are conducted over simulation frameworks as real experiments are still too costly. In this paper, we present a platooning robotic test-bed platform with a 1/10 scale robotic vehicles that functions based on the input front commercially off the shelf technologies (COTS) such as Lidars and cameras. We also present an in-depth analysis of the functionalities and architecture of the proposed system. We also compare the performance of the aforementioned sensors in some real-life emulated scenarios. From our results, we were able to concur that the camera based platooning is able to perform well at partially observable scenarios than its counterpart. |
publishDate |
2023 |
dc.date.none.fl_str_mv |
2023-06-12 2023-06-12T00:00:00Z 2035-01-01T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/23194 |
url |
http://hdl.handle.net/10400.22/23194 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
metadata only access info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
metadata only access |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
|
_version_ |
1799131710650056704 |