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Platform Development

  • AutoDRIVE Testbed
    • Vehicle (Nigel)
      • Component Finalization
      • Part Modelling
      • CAD Assembly
      • Rendering
      • Mechanical System Testing
      • Chassis Fabrication
      • Electrical System Layout
      • Electrical System Testing
      • Auxiliary PCB Design
      • Auxiliary PCB Fabrication
      • System Integration
      • Subsystem Testing
      • Finishing Touches
      • Sensors Test
      • Actuators Test
      • Lights Test
      • Firmware Development
      • Software Development
      • [Optional] Wiring in CAD Assembly
    • Infrastructure
      • Map Design Finalization (Driving School)
      • Flex Printing (Driving School)
      • Flex Trimming (Driving School)
      • Obstacle Layout Finalization
      • Traffic Sign Catalog Finalization
      • Traffic Sign Stand Design
      • Traffic Light Design
      • Traffic Control IoT Web App
      • IPS Camera Fixture Installation
      • IPS Camera Calibration
      • IPS AprilTag Library Integration
      • IPS AprilTag Based Localization
  • AutoDRIVE Simulator
    • Port Simulator to Unity HDRP (with Post-Processing)
    • Update Vehicle Models
    • Update Vehicle Material Properties
    • Port Vehicle Gameobjects and Behavior Scripts (Sensors, Actuators, Lighting, etc.)
    • Tune Vehicular Dynamics
    • Update Environment Modules
    • Add Traffic Elements (Traffic Lights, Traffic Signs, etc.)
    • Update Tiny Town Map
    • Add Driving School Map
    • Add Cross Junction Map
    • Update GUI
    • Add Quit Button
    • Add Rendering Quality Toggle Functionality
    • Add Data Recording Functionality
    • Integrate with Unity ML-Agents
    • Update White LEDs on Nigel from Spot Light Sources to Point Light Sources
    • [Optional] Add Encoder.RPM, Encoder.SpeedFromRPM and Encoder.SpeedFromTicks to Socket.cs script.
    • [Optional] Add 1, 2, 4 and 6 Lane Road Modules
    • [Optional] Battery Status Indicator for Vehicle
    • [Optional] Settings (Simulation Settings, Vehicle Settings, Infrastructure Settings)
    • [Optional] Controller Settings (Keyboard, Mouse, Joystick, etc.)
    • [Optional] HIL Simulation
    • [Optional] AR/VR
    • [Optional] Stand Alone Scene Reconfiguration
    • [Optional] Multi-Vehicle Support
    • [Optional] V2X Support
    • [Optional] Visualization Overlay (Sensors, Planners, Dynamics, etc.)
    • [Optional] Ground Truth Data Streaming
    • [Optional] Create Gym Environment(s) for DRL

Platform Exploitation

  • Modular Approach
    • Perception Module
      • Lane Detection & Tracking (Basic & Advanced)
      • Object Detection & Tracking
      • Traffic Light Detection
      • Traffic Sign Detection and Classification (Sim2Real)
      • Semantic Segmentation
      • SLAM (HectorSLAM, Cartographer, ORB-SLAM)
      • Odometry (Wheel Encoder, Visual, Laser Range Flow)
      • Dead Reckoning (Wheel Encoder + IMU)
      • Localization (AMCL, AptilTag)
    • Planning Module
      • Global Planning (Hybrid A*)
      • Local Planning (FSM, DWA, etc.)
    • Control Module
      • PID Control
      • Pure Pursuit Control
      • Stanley Control
      • Model Predictive Control
      • POP Control Algorithm
  • End-to-End Approach
    • Imitation Learning
      • Behavioral Cloning
    • Reinforcement Learning
      • Lane-Keeping Assistance
      • Intersection Traversal
  • Demonstrations for Major Project @ SRMIST
    • Autonomous Parking using SLAM, Path Planning and Control
    • Behavioral Cloning using DIL with Sim2Real Transfer
    • Intersection Traversal using V2V and DRL
    • Smart City Management using V2I and IoT

Documentation

  • India Connect @ NTU Research Internship [Report]
  • SRMIST Major Project [Report]
  • AutoDRIVE Simulator [Paper]
  • AutoDRIVE [Paper]
  • GitHub README
  • GitHub Wiki