Infrastructure Enabled Autonomy (IEA) is a new paradigm that employs a distributed intelligence architecture for connected autonomous vehicles by offloading core functionalities to the infrastructure. In this paper, we develop a simulation framework that can be used to study the concept. A key challenge for such a simulation is the rapid increase in the scale of the computations with the size of the infrastructure to be considered. Our simulation framework is designed to be distributed and scales proportionally with the infrastructure. By integrally using both the hardware controllers and communication devices as part of the simulation framework, we achieve an optimal balance between modeling of the dynamics and sensors, and reusing real hardware for simulation of proprietary or complex communication methods. Multiple cameras on the infrastructure are simulated. The simulation of the camera image processing is done in distributed hardware and the resultant position information is transmitted wirelessly to the computer simulating the autonomous vehicle. We demonstrate closed loop control of a single vehicle following given waypoints using information from multiple cameras located on Road-Side-Units.
Infrastructure-based Autonomous Mobile Robots for Internal Logistics -- Challenges and Future Perspectives
Dept. of Electrical Engineering, Chalmers University of Technology（查尔姆斯理工大学电子工程系）；Global Trucks Operations, Volvo Group（沃尔沃集团全球卡车运营）；Chalmers Industriteknik（查尔姆斯工业技术）；School of Informatics, University of Skövde（斯德哥尔摩大学信息学院）；Dept. of Information Technology, Uppsala University（乌普萨拉大学信息科技系）；RISE Research Institutes of Sweden（瑞典研究机构）
Trust-Preserved Human-Robot Shared Autonomy enabled by Bayesian Relational Event Modeling
School of Electrical and Computer Engineering, Georgia Institute of Technology（电子与计算机工程学院，佐治亚理工学院）；Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology（电子与计算机工程系，香港科技大学）
Resilience Meets Autonomy: Governing Embodied AI in Critical Infrastructure
Department of Automation and Process Engineering (IAP)（自动化与过程工程系）；UiT The Arctic University of Norway（北极大学）；Department of Technology and Safety (ITS)（技术与安全系）
Robotic Navigation Autonomy for Subretinal Injection via Intelligent Real-Time Virtual iOCT Volume Slicing
Technische Universität München（慕尼黑工业大学）；Johns Hopkins University（约翰斯·霍普金斯大学）；Wilmer Eye Institute（威尔默眼科研究所）；Johns Hopkins Hospital（约翰斯·霍普金斯医院）；Technical University of Munich（慕尼黑工业大学）；Whiting School of Engineering（怀廷工程学院）
