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Simulated Highways for Intelligent Vehicle Algorithms (SHIVA)
This project is no longer active.

Head: Rahul Sukthankar
Contact: Rahul Sukthankar (rahuls@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated lab/group: NavLab

For more information, see this project's homepage.

Intelligent vehicles must make real-time tactical level decisions to drive in mixed traffic environments. Since repeatable testing of different algorithms in rare and potentially dangerous situations is necessary, we have developed a custom simulator for this task. SHIVA (Simulated Highways for Intelligent Vehicle Algorithms) mirrors many aspects of the Carnegie Mellon Navlab system, enabling algorithms developed in simulation to be implemented on the robot with minimal modification. Accurate sensor modeling (with noise and occlusion) encourages developers to create algorithms that will work on real robots. Incremental development is facilitated through hierarchies for vehicles, sensors and reasoning objects. An integrated simulation and animation environment provides interactive graphical debugging capabilities.

Name - Title <Email Address>
• John Hancock - Visiting Scholar
• Dean Pomerleau - Adjunct Research Scientist (Adjunct) <deanp@assistware.com>
• [Home] Rahul Sukthankar - Adjunct Faculty (Adjunct) <rahuls@cs.cmu.edu>
• Chuck Thorpe - Dean, Qatar Campus <thorpe@qatar.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Tactical-level Simulation for Intelligent Transportation Systems
  R. Sukthankar, J. Hancock, and C. Thorpe
  Journal on Mathematical and Computer Modeling, Special Issue on ITS, Vol. 27, No. 9 - 11, 1998, pp. 228 - 242. [Abstract]
  Download: pdf [153 KB], ps.gz [234 KB] copyrighted

• A Simulation and Design System for Tactical Driving Algorithms
  R. Sukthankar, J. Hancock, D. Pomerleau, and C. Thorpe
  Proceedings of AI, Simulation and Planning in High Autonomy Systems, 1996. [Abstract]
  Download: pdf [115 KB], ps.gz [71 KB], ps.z [129 KB] copyrighted

• Adaptive Intelligent Vehicle Modules for Tactical Driving
  R. Sukthankar, J. Hancock, S. Baluja, D. Pomerleau, and C. Thorpe
  Proceedings AAAI '96, 1996. [Abstract]
  Download: pdf [125 KB], ps.gz [107 KB] copyrighted

• Prototyping Intelligent Vehicle Modules Using Evolutionary Algorithms
  S. Baluja, R. Sukthankar, and J. Hancock
  Evolutionary Algorithms in Engineering Applications, Dasgupta, D. and Michalewicz, Z., ed., Springer-Verlag, Berlin, 1996, pp. 241 - 257. [Abstract]
  Download: pdf [341 KB] copyrighted

• SHIVA: Simulated Highways for Intelligent Vehicle Algorithms
  R. Sukthankar, D. Pomerleau, and C. Thorpe
  Proceedings of Intelligent Vehicles '95, September, 1995, pp. 332 - 337. [Abstract]
  Download: pdf [226 KB], ps.gz [91 KB], ps.z [186 KB] copyrighted