Self-Driving Vehicular Project

Project Team: Aaron Cruz [UG], Arya Shetty [UG], Brandon Cheng [UG], Tommy Chu [UG], Vineal Sunkara [UG], Divya Krishna [HS], Siddarth Malhotra [HS]

Advisors: Ivan Seskar and Jennifer Shane

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Project Description & Goals:
Build and train miniature autonomous cars to drive in a miniature city.
RASCAL (Robotic Autonomous Scale Car for Adaptive Learning): Using the car sensors, offload image and control data onto a server node. This node will use a neural network that will train the vehicle to move around on its own given the image data it sees through its camera.

Technologies: ROS (Robot Operating System), Pytorch

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Week 1:
Slides: ​https://docs.google.com/presentation/d/1_K0UlIok6UAKQ4FFww5lPMrha5UKXG6zL87LEalwGbc/edit?

Progress:

• Familiarized with past summer's work: GitLab, RASCAL setup, software architecture
• Debugged an issue with RASCAL's pure pursuit

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Week 2:

Slides:

Progress:

• Setup X11 forwarding for GUI applications through SSH
• Visual odometry using Realsense Camera and ​rtabmap
• Streamline data pipeline that processes bag data (car camera + control data) into .mp4 video

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