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

Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cap, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh Cheng Wang, Dmitry Yershov, Hang ZhaoMichael Benjamin, Christopher Carr, Maria Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan How, John Leonard, Andrea Censi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

43 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1497-1504
Number of pages8
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

Bibliographical note

Funding Information:
This work was supported by the National Science Foundation, with National Robotics Initiative award IIS-1405259, and with Robust Intelligence award IIS-1318392. Additional support was given by the Toyota Research Institute (“TRI”) and the Ford Motor Company. However, note that this article solely reflects the opinions and conclusions of its authors and not TRI or any other Toyota entity. We would also like to acknowledge the contributions made by the students during the Spring 2016 semester of the MIT 2.166 class. Finally, we would like to thank Kirsten Bowser, the Duckietown Engineering Co. human resources coordinator.

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