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 Zhao; Michael Benjamin; Christopher Carr; Maria Zuber; Sertac Karaman; Emilio Frazzoli; Domitilla Del Vecchio; Daniela Rus; Jonathan How; John Leonard; Andrea Censi

doi:10.1109/ICRA.2017.7989179

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 proceeding › Conference contribution

161 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 language	English (US)
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1497-1504
Number of pages	8
ISBN (Electronic)	9781509046331
DOIs	https://doi.org/10.1109/ICRA.2017.7989179
State	Published - Jul 21 2017
Externally published	Yes
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore Duration: May 29 2017 → Jun 3 2017

Publication series

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

Other

Other	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	5/29/17 → 6/3/17

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.

Publisher Copyright:
© 2017 IEEE.

Publisher link

10.1109/ICRA.2017.7989179

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Paull, L., Tani, J., Ahn, H., Alonso-Mora, J., Carlone, L., Cap, M., Chen, Y. F., Choi, C., Dusek, J., Fang, Y., Hoehener, D., Liu, S. Y., Novitzky, M., Okuyama, I. F., Pazis, J., Rosman, G., Varricchio, V., Wang, H. C., Yershov, D., ... Censi, A. (2017). Duckietown: An open, inexpensive and flexible platform for autonomy education and research. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 1497-1504). Article 7989179 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989179

Duckietown: An open, inexpensive and flexible platform for autonomy education and research. / Paull, Liam; Tani, Jacopo; Ahn, Heejin et al.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1497-1504 7989179 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Paull, L, Tani, J, Ahn, H, Alonso-Mora, J, Carlone, L, Cap, M, Chen, YF, Choi, C, Dusek, J, Fang, Y, Hoehener, D, Liu, SY, Novitzky, M, Okuyama, IF, Pazis, J, Rosman, G, Varricchio, V, Wang, HC, Yershov, D, Zhao, H, Benjamin, M, Carr, C, Zuber, M, Karaman, S, Frazzoli, E, Del Vecchio, D, Rus, D, How, J, Leonard, J & Censi, A 2017, Duckietown: An open, inexpensive and flexible platform for autonomy education and research. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989179, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1497-1504, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 5/29/17. https://doi.org/10.1109/ICRA.2017.7989179

Paull L, Tani J, Ahn H, Alonso-Mora J, Carlone L, Cap M et al. Duckietown: An open, inexpensive and flexible platform for autonomy education and research. In ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1497-1504. 7989179. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2017.7989179

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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.",

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

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. Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

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

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