TY  - CHAP
A1  - Reke, Michael
A1  - Peter, Daniel
A1  - Schulte-Tigges, Joschua
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Walter, Thomas
A1  - Matheis, Dominik
T1  - A Self-Driving Car Architecture in ROS2
T2  - 2020 International SAUPEC/RobMech/PRASA Conference, Cape Town, South Africa
N2  - In this paper we report on an architecture for a self-driving car that is based on ROS2. Self-driving cars have to take decisions based on their sensory input in real-time, providing high reliability with a strong demand in functional safety. In principle, self-driving cars are robots. However, typical robot software, in general, and the previous version of the Robot Operating System (ROS), in particular, does not always meet these requirements. With the successor ROS2 the situation has changed and it might be considered as a solution for automated and autonomous driving. Existing robotic software based on ROS was not ready for safety critical applications like self-driving cars. We propose an architecture for using ROS2 for a self-driving car that enables safe and reliable real-time behaviour, but keeping the advantages of ROS such as a distributed architecture and standardised message types. First experiments with an automated real passenger car at lower and higher speed-levels show that our approach seems feasible for autonomous driving under the necessary real-time conditions.
Y1  - 2020
SN  - 978-1-7281-4162-6
U6  - https://doi.org/10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020
N1  - 2020 International SAUPEC/RobMech/PRASA Conference, 29-31 Jan. 2020, Cape Town, South Africa
SP  - 1
EP  - 6
PB  - IEEE
CY  - New York, NY
ER  - 
TY  - CHAP
A1  - Pfetsch, Marc E.
A1  - Abele, Eberhard
A1  - Altherr, Lena
A1  - Bölling, Christian
A1  - Brötz, Nicolas
A1  - Dietrich, Ingo
A1  - Gally, Tristan
A1  - Geßner, Felix
A1  - Groche, Peter
A1  - Hoppe, Florian
A1  - Kirchner, Eckhard
A1  - Kloberdanz, Hermann
A1  - Knoll, Maximilian
A1  - Kolvenbach, Philip
A1  - Kuttich-Meinlschmidt, Anja
A1  - Leise, Philipp
A1  - Lorenz, Ulf
A1  - Matei, Alexander
A1  - Molitor, Dirk A.
A1  - Niessen, Pia
A1  - Pelz, Peter F.
A1  - Rexer, Manuel
A1  - Schmitt, Andreas
A1  - Schmitt, Johann M.
A1  - Schulte, Fiona
A1  - Ulbrich, Stefan
A1  - Weigold, Matthias
T1  - Strategies for mastering uncertainty
T2  - Mastering uncertainty in mechanical engineering
N2  - This chapter describes three general strategies to master uncertainty in technical systems: robustness, flexibility and resilience. It builds on the previous chapters about methods to analyse and identify uncertainty and may rely on the availability of technologies for particular systems, such as active components. Robustness aims for the design of technical systems that are insensitive to anticipated uncertainties. Flexibility increases the ability of a system to work under different situations. Resilience extends this characteristic by requiring a given minimal functional performance, even after disturbances or failure of system components, and it may incorporate recovery. The three strategies are described and discussed in turn. Moreover, they are demonstrated on specific technical systems.
Y1  - 2021
SN  - 978-3-030-78353-2
U6  - https://doi.org/10.1007/978-3-030-78354-9_6
N1  - Part of the Springer Tracts in Mechanical Engineering book series (STME)
SP  - 365
EP  - 456
PB  - Springer
CY  - Cham
ER  -