HydraOne: An Indoor Experimental Research and Education Platform for CAVs

Connected and autonomous vehicles (CAVs) is currently a hot topic and a major focus in the field of edge computing, and it has created numerous pivotal and challenging research problems. In this paper, we present HydraOne, an indoor experimental research and education platform for edge computing in the CAVs scenario. HydraOne is a hardware-software co-design platform built from scratch based on our experience with the requirements of edge computing research problems. We present the design and implementation details and discuss three key characteristics of HydraOne: design modularization, resource extensibility and openness, as well as function isolation. These will help researchers and students fully understand the platform and take advantage of it to conduct research experiments. We also provide three case studies deployed on HydraOne to demonstrate the capabilities of our research platform.

[1]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[2]  Peng Liu,et al.  ParaDrop: Enabling Lightweight Multi-tenancy at the Network’s Extreme Edge , 2016, 2016 IEEE/ACM Symposium on Edge Computing (SEC).

[3]  Ragunathan Rajkumar,et al.  Towards a viable autonomous driving research platform , 2013, 2013 IEEE Intelligent Vehicles Symposium (IV).

[4]  Spring Berman,et al.  Pheeno, A Versatile Swarm Robotic Research and Education Platform , 2016, IEEE Robotics and Automation Letters.

[5]  Wei Liu,et al.  SSD: Single Shot MultiBox Detector , 2015, ECCV.

[6]  Sriram Subramanian,et al.  ECO: Harmonizing Edge and Cloud with ML/DL Orchestration , 2018, HotEdge.

[7]  Wei Zhao,et al.  Augmenting Self-Driving with Remote Control: Challenges and Directions , 2018, HotMobile.

[8]  Dong Wang,et al.  Cooperative-Competitive Task Allocation in Edge Computing for Delay-Sensitive Social Sensing , 2018, 2018 IEEE/ACM Symposium on Edge Computing (SEC).

[9]  Eyal de Lara,et al.  Toward Session Consistency for the Edge , 2018, HotEdge.

[10]  Bruno Volckaert,et al.  Embedded Real-Time Object Detection for a UAV Warning System , 2017, 2017 IEEE International Conference on Computer Vision Workshops (ICCVW).

[11]  Ali Farhadi,et al.  You Only Look Once: Unified, Real-Time Object Detection , 2015, 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR).

[12]  David E. Culler,et al.  Telos: enabling ultra-low power wireless research , 2005, IPSN 2005. Fourth International Symposium on Information Processing in Sensor Networks, 2005..

[13]  Lingjia Tang,et al.  The Architectural Implications of Autonomous Driving: Constraints and Acceleration , 2018, ASPLOS.

[14]  Sertac Karaman,et al.  Project-based, collaborative, algorithmic robotics for high school students: Programming self-driving race cars at MIT , 2017, 2017 IEEE Integrated STEM Education Conference (ISEC).

[15]  Weisong Shi,et al.  Edge Computing: Vision and Challenges , 2016, IEEE Internet of Things Journal.

[16]  Mohsine Eleuldj,et al.  OpenStack: Toward an Open-source Solution for Cloud Computing , 2012 .

[17]  Sanjay Ghemawat,et al.  MapReduce: Simplified Data Processing on Large Clusters , 2004, OSDI.

[18]  Weisong Shi,et al.  SafeShareRide: Edge-Based Attack Detection in Ridesharing Services , 2018, 2018 IEEE/ACM Symposium on Edge Computing (SEC).

[19]  Richard Wolski,et al.  The Eucalyptus Open-Source Cloud-Computing System , 2009, 2009 9th IEEE/ACM International Symposium on Cluster Computing and the Grid.

[20]  Massimo Banzi,et al.  Make: Getting Started with Arduino: The Open Source Electronics Prototyping Platform , 2014 .

[21]  Zhuo Chen,et al.  Bandwidth-Efficient Live Video Analytics for Drones Via Edge Computing , 2018, 2018 IEEE/ACM Symposium on Edge Computing (SEC).

[22]  Xin Zhang,et al.  End to End Learning for Self-Driving Cars , 2016, ArXiv.

[23]  Xiaohui Peng,et al.  The Φ-stack for smart web of things , 2017, SmartIoT@SEC.

[24]  Darius Burschka,et al.  Toward a Fully Autonomous UAV: Research Platform for Indoor and Outdoor Urban Search and Rescue , 2012, IEEE Robotics & Automation Magazine.

[25]  Yu Zhou,et al.  A robot system design for low-cost multi-robot manipulation , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[26]  Xiaopei Wu,et al.  CAVBench: A Benchmark Suite for Connected and Autonomous Vehicles , 2018, 2018 IEEE/ACM Symposium on Edge Computing (SEC).

[27]  Mahadev Satyanarayanan,et al.  The Emergence of Edge Computing , 2017, Computer.