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- RosDrive: An Open-Source ROS-Based Vehicular Simulator for STEM Control Systems Classes TutorialPublication . Vasconcelos Filho, Ênio; Yudi, Jones; Abdelkader, Mohamed; Koubaa, Anis; Tovar, EduardoThe study of control systems in the engineering courses is quite complex, given the difficulty of some teachers in exemplifying and allowing the student to understand how such systems affect the environment. In this context, the STEM methodologies aim to fill this gap between the traditional classes and the student comprehension of the topic through the active learning process. Realistic open-source simulators can be interpreted as one solution for this STEM implementation, allowing students to test, modify and create different configurations and sensors with a low-cost environment. This work presents a flexible open-source 3D simulation framework, based on ROS, of a line follower vehicle, using an embedded PID controller, a camera for processing and detecting lines, and sonars for detecting and avoiding obstacles. This simulator integrates several controller systems, allowing the student to build consistent skills in control and related areas, analyze the impacts of models configurations, and extends its knowledge to new techniques.
- COPADRIVe - A Realistic Simulation Framework for Cooperative Autonomous Driving ApplicationsPublication . Vieira, Bruno; Severino, Ricardo; Vasconcelos Filho, Ênio; Koubaa, Anis; Tovar, EduardoSafety-critical cooperative vehicle applications such as platooning, require extensive testing, however, the complexity and cost involved in this process, increasingly demands for realistic simulation tools to ease the validation of such technologies, helping to bridge the gap between development and real-word deployment. In this paper we propose a realistic co-simulation framework for cooperative vehicles, that integrates Gazebo, an advanced robotics simulator, with the OMNeT++ network simulator, over the Robot Operating System (ROS) framework, supporting the simulation of advanced cooperative applications such as platooning, in realistic scenarios.