Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles

Ni Ching Lin; Michael Benjamin; Chi Fang Chen; Hsueh-Cheng Wang; Yu Chieh Hsiao; Yi Wei Huang; Ching Tung Hung; Tzu Kuan Chuang; Pin Wei Chen; Jui Te Huang; Chao Chun Hsu; Andrea Censi

doi:10.1109/IROS40897.2019.8967798

Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles

Ni Ching Lin, Michael Benjamin, Chi Fang Chen, Hsueh-Cheng Wang^*, Yu Chieh Hsiao, Yi Wei Huang, Ching Tung Hung, Tzu Kuan Chuang, Pin Wei Chen, Jui Te Huang, Chao Chun Hsu, Andrea Censi

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7219-7226
Number of pages	8
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967798
State	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 3 Nov 2019 → 8 Nov 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	3/11/19 → 8/11/19

Access to Document

10.1109/IROS40897.2019.8967798

Cite this

Lin, N. C., Benjamin, M., Chen, C. F., Wang, H-C., Hsiao, Y. C., Huang, Y. W., Hung, C. T., Chuang, T. K., Chen, P. W., Huang, J. T., Hsu, C. C., & Censi, A. (2019). Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 7219-7226). [8967798] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967798

Lin, Ni Ching ; Benjamin, Michael ; Chen, Chi Fang et al. / Duckiepond : An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 7219-7226 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{f4218b7094c049fba66ffede8e38dcc7,

title = "Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles",

abstract = "Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains.",

author = "Lin, {Ni Ching} and Michael Benjamin and Chen, {Chi Fang} and Hsueh-Cheng Wang and Hsiao, {Yu Chieh} and Huang, {Yi Wei} and Hung, {Ching Tung} and Chuang, {Tzu Kuan} and Chen, {Pin Wei} and Huang, {Jui Te} and Hsu, {Chao Chun} and Andrea Censi",

year = "2019",

month = nov,

doi = "10.1109/IROS40897.2019.8967798",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "7219--7226",

booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019",

address = "United States",

note = "null ; Conference date: 03-11-2019 Through 08-11-2019",

}

Lin, NC, Benjamin, M, Chen, CF, Wang, H-C, Hsiao, YC, Huang, YW, Hung, CT, Chuang, TK, Chen, PW, Huang, JT, Hsu, CC & Censi, A 2019, Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967798, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 7219-7226, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 3/11/19. https://doi.org/10.1109/IROS40897.2019.8967798

Duckiepond : An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. / Lin, Ni Ching; Benjamin, Michael; Chen, Chi Fang et al.

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 7219-7226 8967798 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Lin, Ni Ching

AU - Benjamin, Michael

AU - Chen, Chi Fang

AU - Wang, Hsueh-Cheng

AU - Hsiao, Yu Chieh

AU - Huang, Yi Wei

AU - Hung, Ching Tung

AU - Chuang, Tzu Kuan

AU - Chen, Pin Wei

AU - Huang, Jui Te

AU - Hsu, Chao Chun

AU - Censi, Andrea

PY - 2019/11

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N2 - Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains.

AB - Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains.

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U2 - 10.1109/IROS40897.2019.8967798

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M3 - Conference contribution

AN - SCOPUS:85081159733

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 7219

EP - 7226

BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 3 November 2019 through 8 November 2019

ER -

Lin NC, Benjamin M, Chen CF, Wang H-C, Hsiao YC, Huang YW et al. Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 7219-7226. 8967798. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS40897.2019.8967798

Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles

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