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Although robotics courses are well established in higher education, thecourses often focus on theory and sometimes lack the systematic coverage of thetechniques involved in developing, deploying, and applying software to realhardware. Additionally, most hardware platforms for robotics teaching arelow-level toys aimed at younger students at middle-school levels. To addressthis gap, an autonomous vehicle hardware platform, called F1TENTH, is developedfor teaching autonomous systems hands-on. This article describes the teachingmodules and software stack for teaching at various educational levels with thetheme of "racing" and competitions that replace exams. The F1TENTH vehiclesoffer a modular hardware platform and its related software for teaching thefundamentals of autonomous driving algorithms. From basic reactive methods toadvanced planning algorithms, the teaching modules enhance students'computational thinking through autonomous driving with the F1TENTH vehicle. TheF1TENTH car fills the gap between research platforms and low-end toy cars andoffers hands-on experience in learning the topics in autonomous systems. Fouruniversities have adopted the teaching modules for their semester-longundergraduate and graduate courses for multiple years. Student feedback is usedto analyze the effectiveness of the F1TENTH platform. More than 80% of thestudents strongly agree that the hardware platform and modules greatly motivatetheir learning, and more than 70% of the students strongly agree that thehardware-enhanced their understanding of the subjects. The survey results showthat more than 80% of the students strongly agree that the competitionsmotivate them for the course.

Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom