SHIVA: Simulated Highways for Intelligent Vehicle Algorithms
Intelligent vehicles must make real-time tactical level decisions to
drive in mixed traffic environments. Since repeatable testing of different
algorithms in rare and potentially dangerous situations is necessary, we have
developed a custom simulator for this task. SHIVA (Simulated Highways for
Intelligent Vehicle Algorithms) mirrors many aspects of the Carnegie Mellon
system, enabling algorithms developed in simulation to be implemented
on the robot with minimal modification. Accurate sensor modeling (with noise
and occlusion) encourages developers to create algorithms that will work on
real robots. Incremental development is facilitated through hierarchies for
vehicles, sensors and reasoning objects. An integrated simulation and
animation environment provides interactive graphical debugging capabilities.
- R. Sukthankar, J. Hancock, C. Thorpe.
Tactical-level Simulation for Intelligent Transportation Systems.
Mathematical and Computer Modelling, Vol. 27 No. 9-11, 1998.
- Scenario 1996 Workshop page
- R. Sukthankar, J. Hancock, S. Baluja, D. Pomerleau, C. Thorpe.
Adaptive Intelligent Vehicle Modules for Tactical Driving.
In Proceedings of AAAI, 1996.
Focuses on developing intelligent tactical driving agents in SHIVA using
an adaptive learning strategy.
- R. Sukthankar, J. Hancock, D. Pomerleau, C. Thorpe.
A Simulation and Design System for Tactical Driving Algorithms.
In Proceedings of AI, Simulation and Planning in High Autonomy Systems, 1996.
Concentrates on SHIVA as a design tool.
- R. Sukthankar, D. Pomerleau, C. Thorpe.
SHIVA: Simulated Highways for Intelligent Vehicle Algorithms.
In Proceedings of IEEE Intelligent Vehicles, 1995.
Description of the SHIVA simulation environment.
Last Updated: Aug 19, 1998 by email@example.com