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

136 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

Publisher Copyright:
© 2017 IEEE.

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

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