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26/11/2015

Mobility on Demand using


Autonomous Vehicles
Viajeo PLUS City Showcase
16-17 November 2015,
Singapore
Marcelo H Ang Jr
Advanced Robotics Center
National University of Singapore

Viajeo PLUS City Showcase


16-17 November 2015,
Singapore

26/11/2015

Why Transportation?

Affects everybody
Mobility Quality
of Life

Singapore: Dense Urban


Environment
Population Growth
Limited Space
Road congestions
Peak hour traffic
Increased commuting/
traveling time
Increased accidents
Increased stress

ImprovedTransportationSystem=ImprovedQualityofLife

26/11/2015

Multi-Class Mobility

Environment Modes

Road
Pedestrian

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Why Automated Vehicles?


Safety

Productivity
Accessibility

Environment

Efficiency

Our work in summary


More videos are available at youtube:
search FMAutonomy channel

26/11/2015

Mobility on Demand
What it is
Fleet of lightweight Electric Vehicles
Strategically distributed charging stations throughout city
Solve the first and last mile problem of public transit
Advantages
Does not require fixed infrastructure
Fewer vehicles meeting the needs of many
Solution to peak hour periods
Main issue:
Autonomous Return
Rebalancing the network

Imagine

An integrated autonomous train,


car and shuttle system
Providing mobility on demand
For both passengers and goods
Which is completely adaptive to
how the landscape of Singapore
changes

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Technology

Key sensors: LIDAR. These lasers have 270 deg. field-of-view, 50m range, and are safe to the human eye.
Speed: Can be capped at a given value. Typically, buggies are limited to 10 kph.

Map Building and Localization

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In Pedestrian Environments

Mobilty on Demand @ University


Town

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Meet SCOT (Shared Computer Operated


Transport)

Public Deployment at the Chinese


Gardens
LongTermVehicleTesting
Toraiseawareness
Togainpublicacceptance

6Days
360km
500Visitors
220Trips
225Surveys
98%wouldrideagain

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Public Deployment at the Chinese


Gardens

Testing in One-North (Oct 2015)

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Certain Level of Manual Control ?

Practical Challenges
Dealing with
Changes in the
environment ( traffic light)
Pedestrians
Other vehicles (Human
and Autonomous )
Unforeseen events
Crossing intersection
Turning
Lane changes
Overtaking
Entering and exiting drop off
stations

Unforseen
events

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26/11/2015

Technical Challenges
Limited sensor capabilities
Noisy sensor data.
Situational awareness & decision making
Self localization

Detecting, identifying stationary, mobile and


human agents in the environment (
association problem )
Learning
Agents and their behaviors (activity modeling)
Environments ( mapping )

Situation Aware Decision Making

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26/11/2015

Autonomous Vehicles Group

Marcelo H. Ang Jr.


David Hsu
Liu Wei
Shen Xiaotong
Scott Pendleton
Chen Min
Hans Andersen
Feng Mengdan

James Fu Guo Ming


Chong Zhuang Jie
Baoxing Qin
Tawit Uthaicharoenpong
Cody Kamin
Weng Zhiyong
Mark Ang
Daniel Morton
Diluka Moratuwage

Emilio Frazzoli
Daniela Rus
Sertac Karaman

Nutonomy Asia Pte


Ltd

Visiting PhD Students


UROP, FYP Students
Interns

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