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The ARCHES PiCar-X

DOI

This repository presents the source code for a digital twin prototype of the PiCar-X by Sunfounder based on the Robot Operating System (ROS) and the ARCHES Digital Twin Framework. Our goal is to provide researchers and practitioners with an affordable and straightforward example to explore various concepts of digital twins. Moreover, this example can be used to explore all the concepts implemented in a previous project named ARCHES (Autonomous Robotic Networks to help Human Societies), which focused on monitoring and operating an underwater network of ocean observation systems. This network was successfully tested in the Baltic Sea in October 2020. One of the outcomes of this project was the ARCHES Digital Twin Framework.

The Physical Twin The Digital Twin Prototype
Physical Twin Digital Twin Prototype

Quickstart

The ARCHES PiCar-X can be run via Docker. Follow our quickstart guide to get started.

Documentation

Documentation on The ARCHES PiCar-X and additional information can be found on our GitHub Page

Contributing

We are happy to accept any kind of contributions to the ARCHES PiCar-X.

See our website to start contributing.

Project Structure

  • The source code is placed in PiCar-X
  • The corresponding paper is placed in paper
  • The documentation can be found on our GitHub Page

Acknowledgements

We thank the GitHub user Theosakamg for providing a CAD model of a PiCar-V under an open source license.

Related Publications

  • Barbie, A., Hasselbring, W., Pech, N., Sommer, S., Flögel, S., & Wenzhöfer, F. (2020, September). Prototyping Autonomous Robotic Networks on Different Layers of RAMI 4.0 with Digital Twins. In 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) (pp. 1-6). IEEE. https://doi.org/10.1109/mfi49285.2020.9235210
  • Barbie, A., Pech, N., Hasselbring, W., Flögel, S., Wenzhöfer, F., Walter, M., ... & Sommer, S. (2021). Developing an Underwater Network of Ocean Observation Systems with Digital Twin Prototypes - A Field Report from the Baltic Sea. IEEE Internet Computing, 26(3), 33-42. https://doi.org/10.1109/mic.2021.3065245
  • Barbie, A., & Pech, N. (2022). ARCHES Digital Twin Framework. GEOMAR Helmholtz Centre for Ocean Research Kiel. https://doi.org/10.3289/sw_arches_core_1.0.0
  • Barbie, A., & Hasselbring, W. (2023, August). Embedded Software Development with Digital Twins: Specific Requirements for Small and Medium-Sized Enterprises. In 2023 IEEE Smart World Congress (SWC) (pp. 1-6). IEEE. https://doi.org/10.1109/SWC57546.2023.10449324
  • Barbie, A., Hasselbring, W., & Hansen, M. (2023, August). Enabling Automated Integration Testing of Smart Farming Applications via Digital Twin Prototypes. In 2023 IEEE Smart World Congress (SWC) (pp. 1-8). IEEE. https://doi.org/10.1109/SWC57546.2023.10449240
  • Barbie, A., Hasselbring, W., & Hansen, M. (2024). Digital Twin Prototypes for Supporting Automated Integration Testing of Smart Farming Applications. Symmetry, 16(2), 221. https://doi.org/10.3390/sym16020221
  • Barbie, A., & Hasselbring, W. (2024). From Digital Twins to Digital Twin Prototypes: Concepts, Formalization, and Applications. IEEE Access. https://doi.org/10.1109/access.2024.3406510
  • Barbie, A., & Hasselbring, W. (2024). Toward Reproducibility of Digital Twin Research: Exemplified with the PiCar-X. arXiv preprint arXiv:2408.13866. https://doi.org/10.48550/ARXIV.2408.13866