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.|
|Number of pages||8|
|State||Published - Jul 21 2017|
|Event||2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore|
Duration: May 29 2017 → Jun 3 2017
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Other||2017 IEEE International Conference on Robotics and Automation, ICRA 2017|
|Period||5/29/17 → 6/3/17|
Bibliographical noteFunding 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.