AutoDRIVE Processed Datasets

This repository contains pose, attitude and control datasets extracted from AutoDRIVE datasets and processed to make them compatible with Project-Varuna GUI. These datasets can directly be used with the GUI to either create new data-driven models or for deployment in path tracking setting.

Dataset Branches

Note

• To access the off-road dataset, switch to the Hunter-SE-Offroad-Dataset branch.
• For the greensward (on-road) dataset, switch to the Hunter-SE-Onroad-Dataset branch.

About This Repository

This repository processes and compiles all individual files from the offroad AutoDRIVE-Hunter-SE-Dataset into the "AutoDRIVE" format used in the Project Varuna GUI. The original dataset was collected using the AutoDRIVE Ecosystem, capturing data from the Hunter SE vehicle. For more information, visit the AutoDRIVE-Hunter-SE repository.

Dataset Structure

The following structure should be used when working with the "Project-Varuna-Custom" format in the GUI application:

DATA	timestamp	throttle	steering	leftTicks	rightTicks	posX	posY	posZ	roll	pitch	yaw	speed	angX	angY	angZ	accX	accY	accZ	command_velocity
UNIT	yyyy_MM_dd_HH_mm_ss_fff	norm%	rad	count	count	m	m	m	rad	rad	rad	m/s	rad/s	rad/s	rad/s	m/s^2	m/s^2	m/s^2	m/s

Ensure any custom datasets follow this structure if your choosing this option in the GUI.

Additional Notes

• Coordinate Frames: Position (posX, posY) and yaw should be in the map frame (global pose coordinates). The Multi-Model Parameterized Koopman (MMPK) workflow will internally convert the data to a body frame representation, enabling pose-agnostic model generation.

• Angle Conventions: Roll, pitch, and yaw should follow the ISO 8855 convention:

  • Roll angles should be within the range ([-π, π]), where rightward roll is positive, and leftward roll is negative.
  • Pitch angles should be within ([-π, π]), where forward pitch is positive, and backward pitch is negative.
  • Yaw follows the same convention: counter-clockwise rotation is positive, and clockwise rotation is negative.

• IMU Conventions: If your robot’s IMU uses the SAE J670 convention, you can select this option in the GUI while mapping the relevant topic. The package will convert it to the ISO 8855 format for path tracking.

File Organization

Files in this repository follow a naming convention: modality_frequency_throttle-value_run_number.csv

• modality: Mode of teleoperation for data-collection (Keyboard,Joystick,Wheel etc.) for data collection.
• frequency: Indicates the frequncy at which data is collected.
• throttle: Indicates the locked throttle input.

Citation

If you use Project-Varuna for research or validation purposes, please reference and cite the following:

Expanding Autonomous Ground Vehicle Navigation Capabilities through a Multi-Model Parameterized Koopman Framework

@unknown{Joglekar_MMPK,
author = {Joglekar, Ajinkya and Samak, Chinmay and Samak, Tanmay and Krovi, Venkat and Vaidya, Umesh},
year = {2024},
month = {04},
pages = {},
title = {Expanding Autonomous Ground Vehicle Navigation Capabilities through a Multi-Model Parameterized Koopman Framework},
doi = {10.13140/RG.2.2.33007.24485}
}

Modeling and Control of Off-road Autonomous Vehicles with Situationally Aware Data-Driven Framework

@unknown{Joglekar_Adaptive_MMPK,
author = {Joglekar, Ajinkya and Vaidya, Umesh and Krovi, Venkat},
year = {2024},
month = {08},
pages = {},
title = {Modeling and Control of Off-road Autonomous Vehicles with Situationally Aware Data-Driven Framework},
doi = {10.13140/RG.2.2.13288.48642}
}

Data-Driven Modeling and Experimental Validation of Autonomous Vehicles Using Koopman Operator

@inproceedings{inproceedings,
author = {Joglekar, Ajinkya and Sutavani, Sarang and Samak, Chinmay and Samak, Tanmay and Kosaraju, Krishna and Smereka, Jonathon and Gorsich, David and Vaidya, Umesh and Krovi, Venkat},
year = {2023},
month = {10},
pages = {9442-9447},
title = {Data-Driven Modeling and Experimental Validation of Autonomous Vehicles Using Koopman Operator},
doi = {10.1109/IROS55552.2023.10341797}
}

Analytical Construction of Koopman EDMD Candidate Functions for Optimal Control of Ackermann-Steered Vehicles

@article{article,
author = {Joglekar, Ajinkya and Samak, Chinmay and Samak, Tanmay and Kosaraju, Krishna and Smereka, Jonathon and Brudnak, Mark and Gorsich, David and Krovi, Venkat and Vaidya, Umesh},
year = {2023},
month = {01},
pages = {619-624},
title = {Analytical Construction of Koopman EDMD Candidate Functions for Optimal Control of Ackermann-Steered Vehicles},
volume = {56},
journal = {IFAC-PapersOnLine},
doi = {10.1016/j.ifacol.2023.12.093}
}