Project-Varuna-Datasets

This repository provides pose, attitude, and control datasets formatted specifically for "Project-Varuna." These datasets can be used directly with the Project-Varuna GUI to create new data-driven models or perform path-tracking tasks with the 1:5 scale Ackermann-steered robot, Hunter SE.

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 "Project-Varuna-Custom" format that can be selected in the 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	posX	posY	Yaw	Roll	Pitch	Input Velocity	Steering
Unit	yyyy_MM_dd_HH_mm_ss_fff	m	m	rad	rad	rad	m/s	rad

Ensure any custom datasets follow this structure.

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: Type of teleoperation modality (Keyboard, Joystick, Steering Wheel) used 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}
}