Developing robust autonomous vehicles with ROS

Dylan J. Kangas; Mohamed Salem; Kevin Li; Tyler Ryynanen; Steven Senczyszyn; Anthony J. Pinar; Steven R. Price; Stanton R. Price; Stephen L. Taylor; Timothy O. Murphy; Timothy C. Havens

doi:10.1117/12.3013941

7 June 2024 Developing robust autonomous vehicles with ROS

Dylan J. Kangas, Mohamed Salem, Kevin Li, Tyler Ryynanen, Steven Senczyszyn, Anthony J. Pinar, Steven R. Price, Stanton R. Price, Stephen L. Taylor, Timothy O. Murphy, Timothy C. Havens

Author Affiliations +

Proceedings Volume 13052, Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2024; 130520A (2024) https://doi.org/10.1117/12.3013941
Event: SPIE Defense + Commercial Sensing, 2024, National Harbor, Maryland, United States

Abstract

In the rapidly evolving landscape of military technology, the demand for autonomous vehicles (AVs) is increasing in both public and private sectors. These autonomous systems promise many benefits including enhanced efficiency, safety, and flexibility. To meet this demand, development of autonomous vehicles that are resilient and versatile are essential to the transport and reconnaissance market. The sensory perception of autonomous vehicles of any kind is paramount to their ability to navigate and localize in their environment. Typically, the sensors used for localization and mapping include LIDAR, IMU, GPS, and radar. Each of these has inherent weaknesses that must be accounted for in a robust system. This paper presents quantified results of simulated perturbations, artificial noise models, and other sensor challenges on autonomous vehicle platforms. The research aims to establish a foundation for robust autonomous systems, accounting for sensor limitations, environmental noise, and defense against nefarious attacks.

Conference Presentation

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Dylan J. Kangas, Mohamed Salem, Kevin Li, Tyler Ryynanen, Steven Senczyszyn, Anthony J. Pinar, Steven R. Price, Stanton R. Price, Stephen L. Taylor, Timothy O. Murphy, and Timothy C. Havens "Developing robust autonomous vehicles with ROS", Proc. SPIE 13052, Autonomous Systems: Sensors, Processing, and Security for Ground, Air, Sea, and Space Vehicles and Infrastructure 2024, 130520A (7 June 2024); https://doi.org/10.1117/12.3013941

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