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Zeus: A system description of the two‐time winner of the collegiate SAE autodrive competition
Author(s) -
Burnett Keenan,
Qian Jingxing,
Du Xintong,
Liu Linqiao,
Yoon David J.,
Shen Tianchang,
Sun Susan,
Samavi Sepehr,
Sorocky Michael J.,
Bianchi Mollie,
Zhang Kaicheng,
Arkhangorodsky Arkady,
Sykora Quinlan,
Lu Shichen,
Huang Yizhou,
Schoellig Angela P.,
Barfoot Timothy D.
Publication year - 2021
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21958
Subject(s) - competition (biology) , zeus (particle detector) , suite , software , engineering , simulation , aeronautics , computer science , political science , operating system , ecology , physics , deep inelastic scattering , inelastic scattering , law , scattering , optics , biology
The SAE AutoDrive Challenge is a 3‐year collegiate competition to develop a self‐driving car by 2020. The second year of the competition was held in June 2019 at MCity, a mock town built for self‐driving car testing at the University of Michigan. Teams were required to autonomously navigate a series of intersections while handling pedestrians, traffic lights, and traffic signs. Zeus is aUToronto's winning entry in the AutoDrive Challenge. This article describes the system design and development of Zeus as well as many of the lessons learned along the way. This includes details on the team's organizational structure, sensor suite, software components, and performance at the Year 2 competition. With a team of mostly undergraduates and minimal resources, aUToronto has made progress toward a functioning self‐driving vehicle, in just 2 years. This article may prove valuable to researchers looking to develop their own self‐driving platform.