F1/10: An Open-Source Autonomous Cyber-Physical Platform

TL;DR

The paper introduces F1/10, an open-source, affordable 1/10 scale autonomous vehicle platform equipped with sensors and software, enabling accessible research and education in autonomous systems.

Contribution

It presents a high-performance, open-source testbed for autonomous vehicles that facilitates safe, cost-effective research and education in autonomous systems.

Findings

Demonstrated key research applications using F1/10

Showcased platform's capabilities in perception and control

Enabled accessible autonomous vehicle experimentation

Abstract

In 2005 DARPA labeled the realization of viable autonomous vehicles (AVs) a grand challenge; a short time later the idea became a moonshot that could change the automotive industry. Today, the question of safety stands between reality and solved. Given the right platform the CPS community is poised to offer unique insights. However, testing the limits of safety and performance on real vehicles is costly and hazardous. The use of such vehicles is also outside the reach of most researchers and students. In this paper, we present F1/10: an open-source, affordable, and high-performance 1/10 scale autonomous vehicle testbed. The F1/10 testbed carries a full suite of sensors, perception, planning, control, and networking software stacks that are similar to full scale solutions. We demonstrate key examples of the research enabled by the F1/10 testbed, and how the platform can be used to augment research and education in autonomous systems, making autonomy more accessible.