Autonomous Vehicle Softwares are complex to implement. They have strong security and safety constraints and are at the crossroad of several domains, thus leading to as many independent components. Plus, as foreseen by the Vehicle to Everything paradigm, Autonomous Vehicles are expected to interact with their surroundings, again increasing their overall complexity. To cope with these requirements, frameworks based on dataflow programming are emerging. Indeed, dataflow programming is particularly suited in this context as it is already being used in robotics and time-critical applications. However, it was not designed with decentralization in mind, hence leaving all communication-related aspects to application developers. To address these challenges, we propose to leverage Eclipse Zenoh, an Edge-native technology. For that purpose, we first show how we used Zenoh to enhance ERDOS, a dataflow framework for Autonomous Vehicles. We then motivate and draft our own dataflow framework based on Zenoh: Zenoh Flow. ; Paper accepted to the 21st IEEE International Conference QRS 2021 AVS


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Zenoh-based Dataflow Framework for Autonomous Vehicles


    Beteiligte:
    Baldoni, Gabriele (Autor:in) / Loudet, Julien (Autor:in) / Cominardi, Luca (Autor:in) / Corsaro, Angelo (Autor:in) / He, Yong (Autor:in)

    Erscheinungsdatum :

    29.11.2021



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629





    Prediction-based hierarchical control framework for autonomous vehicles

    Jain,V. / Weiskircher,T. / Univ.Kaiserslautern,DE et al. | Kraftfahrwesen | 2014


    Blockchain Framework For Securing Autonomous Vehicles

    Aishwarya, R / Vivek Anand, M | IEEE | 2023


    Scheduled Dataflow Architecture: A Synchronous Execution Paradigm for Dataflow

    Kavi, K. M. / Kim, H.-S. / Hurson, A. R. | British Library Online Contents | 1999


    A Blockchain Based Liability Attribution Framework for Autonomous Vehicles

    Oham, Chuka / Kanhere, Salil S. / Jurdak, Raja et al. | ArXiv | 2018

    Freier Zugriff