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AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development

Publication ,  Conference
Hallyburton, RS; Zhang, S; Pajic, M
Published in: ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023
May 9, 2023

Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Culprits include (1) the lack of verifiability of proposed state-of-the-art AV components, and (2) stagnation of pursuing next-level evaluations, e.g., vehicle-to-infrastructure (V2I) and multi-agent collaboration. In part, progress has been hampered by: the large volume of software in AVs, the multiple disparate conventions, the difficulty of testing across datasets and simulators, and the inflexibility of state-of-the-art AV components. To address these challenges, we present AVstack12, an open-source, reconfigurable software platform for AV design, implementation, test, and analysis. AVstack solves the validation problem by enabling first-of-a-kind trade studies on datasets and physics-based simulators. AVstack addresses the stagnation problem as a reconfigurable AV platform built on dozens of open-source AV components in a high-level programming language. We demonstrate the power of AVstack through longitudinal testing across multiple benchmark datasets and V2I-collaboration case studies that explore trade-offs of designing multi-sensor, multi-agent algorithms.

Duke Scholars

Published In

ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023

DOI

Publication Date

May 9, 2023

Start / End Page

209 / 220
 

Citation

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Hallyburton, R. S., Zhang, S., & Pajic, M. (2023). AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development. In ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023 (pp. 209–220). https://doi.org/10.1145/3576841.3585930
Hallyburton, R. S., S. Zhang, and M. Pajic. “AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development.” In ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023, 209–20, 2023. https://doi.org/10.1145/3576841.3585930.
Hallyburton RS, Zhang S, Pajic M. AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development. In: ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023. 2023. p. 209–20.
Hallyburton, R. S., et al. “AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development.” ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023, 2023, pp. 209–20. Scopus, doi:10.1145/3576841.3585930.
Hallyburton RS, Zhang S, Pajic M. AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development. ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023. 2023. p. 209–220.

Published In

ICCPS 2023 - Proceedings of the 2023 ACM/IEEE 14th International Conference on Cyber-Physical Systems with CPS-IoT Week 2023

DOI

Publication Date

May 9, 2023

Start / End Page

209 / 220