Authors
Tanmay Vilas Samak, Chinmay Vilas Samak, Joey Binz, Jonathon Smereka, Mark Brudnak, David Gorsich, Feng Luo, Venkat Krovi
Publication date
2024/5
Journal
arXiv e-prints
Pages
arXiv: 2405.04743
Description
Off-road autonomy validation presents unique challenges due to the unpredictable and dynamic nature of off-road environments. Traditional methods focusing on sequentially sweeping across the parameter space for variability analysis struggle to comprehensively assess the performance and safety of off-road autonomous systems within the imposed time constraints. This paper proposes leveraging scalable digital twin simulations within high-performance computing (HPC) clusters to address this challenge. By harnessing the computational power of HPC clusters, our approach aims to provide a scalable and efficient means to validate off-road autonomy algorithms, enabling rapid iteration and testing of autonomy algorithms under various conditions. We demonstrate the effectiveness of our framework through performance evaluations of the HPC cluster in terms of simulation parallelization and present the …
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