Duckietown: An open, inexpensive and flexible platform for autonomy education and research

Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles ("Duckiebots") built from off-the-shelf components, and cities ("Duckietowns") complete with roads, signage, traffic lights, obstacles, a...

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Bibliographic Details
Published in:	2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 1497 - 1504
Main Authors:	Paull, Liam, Tani, Jacopo, Ahn, Heejin, Alonso-Mora, Javier, Carlone, Luca, Cap, Michal, Yu Fan Chen, Changhyun Choi, Dusek, Jeff, Yajun Fang, Hoehener, Daniel, Shih-Yuan Liu, Novitzky, Michael, Okuyama, Igor Franzoni, Pazis, Jason, Rosman, Guy, Varricchio, Valerio, Hsueh-Cheng Wang, Yershov, Dmitry, Zhao, Hang, Benjamin, Michael, Carr, Christopher, Zuber, Maria, Karaman, Sertac, Frazzoli, Emilio, Del Vecchio, Domitilla, Rus, Daniela, How, Jonathan, Leonard, John, Censi, Andrea
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-05-2017
Subjects:	Calibration Cameras Education Image color analysis Lighting Roads Robot sensing systems
Online Access:	Get full text
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Summary:	Duckietown is an open, inexpensive and flexible platform for autonomy education and research. The platform comprises small autonomous vehicles ("Duckiebots") built from off-the-shelf components, and cities ("Duckietowns") complete with roads, signage, traffic lights, obstacles, and citizens (duckies) in need of transportation. The Duckietown platform offers a wide range of functionalities at a low cost. Duckiebots sense the world with only one monocular camera and perform all processing onboard with a Raspberry Pi 2, yet are able to: follow lanes while avoiding obstacles, pedestrians (duckies) and other Duckiebots, localize within a global map, navigate a city, and coordinate with other Duckiebots to avoid collisions. Duckietown is a useful tool since educators and researchers can save money and time by not having to develop all of the necessary supporting infrastructure and capabilities. All materials are available as open source, and the hope is that others in the community will adopt the platform for education and research.
DOI:	10.1109/ICRA.2017.7989179