ALBERT

Description: VENTURER was one of the first three UK government funded research and innovation projects on Connected Autonomous Vehicles (CAVs) and was conducted predominantly in the South West region of the country. A series of increasingly complex scenarios conducted in an urban setting were used to: (i) evaluate the technology created as a part of the project; (ii) systematically assess participant responses to CAVs and; (iii) inform the development of potential insurance models and legal frameworks. Developing this understanding contributed key steps towards facilitating the deployment of CAVs on UK roads. This paper aims to describe the VENTURER Project trials, their objectives and detail some of the key technologies used. Importantly we aim to introduce some informative challenges that were overcame and the subsequent project and technological lessons learned in a hope to help others plan and execute future CAV research. The project successfully integrated several technologies crucial to CAV development. These included, a Decision Making System using behaviour trees to make high level decisions; A pilot-control system to smoothly and comfortably turn plans into throttle and steering actuation; Sensing and perception systems to make sense of raw sensor data; Inter-CAV Wireless communication capable of demonstrating vehicle-to-vehicle communication of potential hazards. The closely coupled technology integration, testing and participant-focused trial schedule led to a greatly improved understanding of the engineering and societal barriers that CAV development faces. From a behavioural standpoint the importance of reliability and repeatability far outweighs a need for novel trajectories, while the sensor-to-perception capabilities are critical, the process of verification and validation is extremely time consuming. Additionally, the added capabilities that can be leveraged from inter-CAV communications shows the potential for improved road safety that could result. Importantly, to effectively conduct human factors experiments in the CAV sector under consistent and repeatable conditions, one needs to define a scripted and stable set of scenarios that uses reliable equipment and a controllable environmental setting. This requirement can often be at odds with making significant technology developments, and if both are part of a project’s goals then they may need to be separated from each other.

Description: Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot , endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.