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We present a framework for the efficient and accurate computation of resonance modes in photonic waveguides. The framework is based on AAA rational approximation with the application of special light sources. It allows one to calculate only relevant modes, such as the fundamental resonance modes localized in the central core of the waveguides. We demonstrate the framework using an example from the literature, a hollow-core photonic crystal fiber. This waveguide supports many other modes, such as cladding modes and higher-order modes. These nonrelevant modes are not calculated, so that challenging post-processing with mode filtering is not required.

A system's internal dynamics and its interaction with the environment can be determined by tracking how external perturbations affect its transition rates between states. However, accurately measuring these rates poses a significant challenge, especially when they span a wide range of time scales. Here we introduce a broadband measurement method, called stochastic resonance spectroscopy (SRS), that operates in the frequency domain and quantifies the stochastic dynamics of atomic-scale quantum systems. We apply this method to determine spin switching rates in a scanning tunneling microscope over an extremely wide frequency range, from 199 ms^-1 for few-atom structures to 1.73 ns^-1 for individual atoms. SRS relies on the universal phenomenon of stochastic resonance which synchronizes stochastic dynamics to an oscillating perturbation. We develop an analytical theory that extracts quantitative transition rates from scanning tunneling microscopy measurements of the frequency-dependent tunnel current and show that the signal is dominated by homodyne detection. Our theory indicates that SRS is not limited to spin dynamics and we corroborate this by measuring transport dynamics through a bound state in a superconductor. We anticipate that the ability to characterize broadband stochastic dynamics at the atomic scale will enable insights into excited-state dynamics of quantum systems and even non-Markovian processes emerging from correlations with the environment., Comment: 12 pages, 5 figures

The emergence of Software-Defined Vehicles (SDVs) signifies a shift from a distributed network of electronic control units (ECUs) to a centralized computing architecture within the vehicle's electrical and electronic systems. This transition addresses the growing complexity and demand for enhanced functionality in traditional E/E architectures, with containerization and virtualization streamlining software development and updates within the SDV framework. While widely used in cloud computing, their performance and suitability for intelligent vehicles have yet to be thoroughly evaluated. In this work, we conduct a comprehensive performance evaluation of containerization and virtualization on embedded and high-performance AMD64 and ARM64 systems, focusing on CPU, memory, network, and disk metrics. In addition, we assess their impact on real-world automotive applications using the Autoware framework and further integrate a microservice-based architecture to evaluate its start-up time and resource consumption. Our extensive experiments reveal a slight 0-5% performance decline in CPU, memory, and network usage for both containerization and virtualization compared to bare-metal setups, with more significant reductions in disk operations-5-15% for containerized environments and up to 35% for virtualized setups. Despite these declines, experiments with actual vehicle applications demonstrate minimal impact on the Autoware framework, and in some cases, a microservice architecture integration improves start-up time by up to 18%., Comment: 15 pages, 15 figures

In this technical report, we investigate the predictive performance differences of a rule-based approach and the GNN architectures NBFNet and A*Net with respect to knowledge graph completion. For the two most common benchmarks, we find that a substantial fraction of the performance difference can be explained by one unique negative pattern on each dataset that is hidden from the rule-based approach. Our findings add a unique perspective on the performance difference of different model classes for knowledge graph completion: Models can achieve a predictive performance advantage by penalizing scores of incorrect facts opposed to providing high scores for correct facts.

Traction force microscopy is a method widely used in biophysics and cell biology to determine forces that biological cells apply to their environment. In the experiment, the cells adhere to a soft elastic substrate, which is then deformed in response to cellular traction forces. The inverse problem consists in computing the traction stress applied by the cell from microscopy measurements of the substrate deformations. In this work, we consider a linear model, in which 3D forces are applied at a 2D interface, called 2.5D traction force microscopy, and a nonlinear pure 2D model, from which we directly obtain a linear pure 2D model. All models lead to a linear resp. nonlinear parameter identification problem for a boundary value problem of elasticity. We analyze the respective forward operators and conclude with some numerical experiments for simulated and experimental data., Comment: 28 pages, 9 figures

In recent years, different approaches for motion planning of autonomous vehicles have been proposed that can handle complex traffic situations. However, these approaches are rarely compared on the same set of benchmarks. To address this issue, we present the results of a large-scale motion planning competition for autonomous vehicles based on the CommonRoad benchmark suite. The benchmark scenarios contain highway and urban environments featuring various types of traffic participants, such as passengers, cars, buses, etc. The solutions are evaluated considering efficiency, safety, comfort, and compliance with a selection of traffic rules. This report summarizes the main results of the competition.

The FAIR data principles advocate for making scientific and research datasets 'Findable' and 'Accessible'. Yet, the sheer volume and diversity of these datasets present significant challenges. Despite advancements in data search technologies, techniques for representing search results are still traditional and inadequate, often returning extraneous results. To address these issues, we developed a knowledge graph based visual search application designed to enhance data search for Earth System Scientists. This application utilizes various chart widgets and a knowledge graph at the backend, connecting two disparate data repositories.

We study a quantum particle coupled to a scalar quantized field, such as the regularized Nelson model. We show that there are situations where the Hamiltonian of the particle alone does not have a bound state, while the particle-field Hamiltonian has a ground state. This complements results for other models such as the Pauli--Fierz model, where such results have been shown. When the uncoupled quantum particle already has a bound state, we provide a new technique to show that this bound state persists when coupling the particle to the field, for any coupling strength. We especially do not use the binding condition. Our results use the functional integral representation and rely on a recent method using the Gaussian correlation inequality., Comment: 24 pages

We present a novel autonomous driving framework, DualAD, designed to imitate human reasoning during driving. DualAD comprises two layers: a rule-based motion planner at the bottom layer that handles routine driving tasks requiring minimal reasoning, and an upper layer featuring a rule-based text encoder that converts driving scenarios from absolute states into text description. This text is then processed by a large language model (LLM) to make driving decisions. The upper layer intervenes in the bottom layer's decisions when potential danger is detected, mimicking human reasoning in critical situations. Closed-loop experiments demonstrate that DualAD, using a zero-shot pre-trained model, significantly outperforms rule-based motion planners that lack reasoning abilities. Our experiments also highlight the effectiveness of the text encoder, which considerably enhances the model's scenario understanding. Additionally, the integrated DualAD model improves with stronger LLMs, indicating the framework's potential for further enhancement. Code and benchmarks are available at github.com/TUM-AVS/DualAD., Comment: Autonomous Driving, Large Language Models (LLMs), Human Reasoning, Critical Scenario

This paper is concerned with the derivation of necessary conditions for the optimal shape of a design problem governed by a non-smooth PDE. The main particularity thereof is the lack of differentiability of the nonlinearity in the state equation, which, at the same time, is solved on an unknown domain. We follow the functional variational approach introduced in [37] where the set of admissible shapes is parametrized by a large class of continuous mappings. It has been recently established [4] that each parametrization associated to an optimal shape is the limit of a sequence of global optima of minimization problems with convex admissible set consisting of functions. Though non-smooth, these problems allow for the derivation of an optimality system equivalent with the first order necessary optimality condition [5]. In the present manuscript we let the approximation parameter vanish therein. The final necessary conditions for the non-smooth shape optimization problem consist of an adjoint equation, a limit gradient equation that features a measure concentrated on the boundary of the optimal shape and, because of the non-smoothness, an inclusion that involves its Clarke subdifferential., Comment: 26 pages; related to arXiv:2406.15146v2 and arXiv:2407.06726

Various standardized tests exist that assess individuals' visualization literacy. Their use can help to draw conclusions from studies. However, it is not taken into account that the test itself can create a pressure situation where participants might fear being exposed and assessed negatively. This is especially problematic when testing domain experts in design studies. We conducted interviews with experts from different domains performing the Mini-VLAT test for visualization literacy to identify potential problems. Our participants reported that the time limit per question, ambiguities in the questions and visualizations, and missing steps in the test procedure mainly had an impact on their performance and content. We discuss possible changes to the test design to address these issues and how such assessment methods could be integrated into existing evaluation procedures.

Numerous natural and technological phenomena are governed by resonances. In nanophotonics, resonances often result from the interaction of several optical elements. Controlling these resonances is an excellent opportunity to provide light with properties on demand for applications ranging from sensing to quantum technologies. The inverse design of large, distributed resonators, however, is typically challenged by high computational costs when discretizing the entire system in space. Here, this limitation is overcome by harnessing prior knowledge about the individual scatterers that form the resonator and their interaction. In particular, a transition matrix multi-scattering framework is coupled with the state-of-the-art adaptive Antoulas-Anderson (AAA) algorithm to identify complex poles of the optical response function. A sample refinement strategy suitable for accurately locating a large number of poles is introduced. We tie the AAA algorithm into an automatic differentiation framework to efficiently differentiate multi-scattering resonance calculations. The resulting resonance solver allows for efficient gradient-based optimization, demonstrated here by the inverse design of an integrated exciton-polariton cavity. This contribution serves as an important step towards efficient resonance calculations in a variety of multi-scattering scenarios, such as inclusions in stratified media, periodic lattices, and scatterers with arbitrary shapes.

Efficient management of infrastructure systems is crucial for economic stability, sustainability, and public safety. However, infrastructure sustainment is challenging due to the vast scale of systems, stochastic deterioration of components, partial observability, and resource constraints. Decision-making strategies that rely solely on human judgment often result in suboptimal decisions over large scales and long horizons. While data-driven approaches like reinforcement learning offer promising solutions, their application has been limited by the lack of suitable simulation environments. We present InfraLib, an open-source modular and extensible framework that enables modeling and analyzing infrastructure management problems with resource constraints as sequential decision-making problems. The framework implements hierarchical, stochastic deterioration models, supports realistic partial observability, and handles practical constraints including cyclical budgets and component unavailability. InfraLib provides standardized environments for benchmarking decision-making approaches, along with tools for expert data collection and policy evaluation. Through case studies on both synthetic benchmarks and real-world road networks, we demonstrate InfraLib's ability to model diverse infrastructure management scenarios while maintaining computational efficiency at scale., Comment: Updated preprint under active review

We introduce the concept and a default implementation of Guided Reasoning. A multi-agent system is a Guided Reasoning system iff one agent (the guide) primarily interacts with other agents in order to improve reasoning quality. We describe Logikon's default implementation of Guided Reasoning in non-technical terms. This is a living document we'll gradually enrich with more detailed information and examples. Code: https://github.com/logikon-ai/logikon

This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road inclination and banking. Especially considering high velocities and accelerations, the literature does not address these effects. Therefore, we compare two- and three-dimensional state estimation schemes to outline the impact of road geometries. We use an Extended Kalman Filter with a point-mass motion model and extend it by an additional formulation of reference angles. Furthermore, virtual velocity measurements significantly improve the estimation of road angles and the vehicle's side slip angle. We highlight the importance of steady estimations for vehicle motion control algorithms and demonstrate the challenges of degraded signal quality and Global Navigation Satellite System dropouts. The proposed adaptive covariance facilitates a smooth estimation and enables stable controller behavior. The developed state estimation has been deployed on a high-speed autonomous race car at various racetracks. Our findings indicate that our approach outperforms state-of-the-art vehicle dynamics state estimators and an industry-grade Inertial Navigation System. Further studies are needed to investigate the performance under varying track conditions and on other vehicle types., Comment: This paper has been accepted at IROS 2024

Connected and automated vehicles and robot swarms hold transformative potential for enhancing safety, efficiency, and sustainability in the transportation and manufacturing sectors. Extensive testing and validation of these technologies is crucial for their deployment in the real world. While simulations are essential for initial testing, they often have limitations in capturing the complex dynamics of real-world interactions. This limitation underscores the importance of small-scale testbeds. These testbeds provide a realistic, cost-effective, and controlled environment for testing and validating algorithms, acting as an essential intermediary between simulation and full-scale experiments. This work serves to facilitate researchers' efforts in identifying existing small-scale testbeds suitable for their experiments and provide insights for those who want to build their own. In addition, it delivers a comprehensive survey of the current landscape of these testbeds. We derive 62 characteristics of testbeds based on the well-known sense-plan-act paradigm and offer an online table comparing 23 small-scale testbeds based on these characteristics. The online table is hosted on our designated public webpage https://bassamlab.github.io/testbeds-survey, and we invite testbed creators and developers to contribute to it. We closely examine nine testbeds in this paper, demonstrating how the derived characteristics can be used to present testbeds. Furthermore, we discuss three ongoing challenges concerning small-scale testbeds that we identified, i.e., small-scale to full-scale transition, sustainability, and power and resource management., Comment: 16 pages, 11 figures, 1 table. This work was accepted by the IEEE Robotics & Automation Magazine

As the world increasingly relies on mathematical models for forecasts in different areas, effective communication of uncertainty in time series predictions is important for informed decision making. This study explores how users estimate probabilistic uncertainty in time series predictions under different variants of line charts depicting uncertainty. It examines the role of individual characteristics and the influence of user-reported metrics on uncertainty estimations. By addressing these aspects, this paper aims to enhance the understanding of uncertainty visualization and for improving communication in time series forecast visualizations and the design of prediction data dashboards.As the world increasingly relies on mathematical models for forecasts in different areas, effective communication of uncertainty in time series predictions is important for informed decision making. This study explores how users estimate probabilistic uncertainty in time series predictions under different variants of line charts depicting uncertainty. It examines the role of individual characteristics and the influence of user-reported metrics on uncertainty estimations. By addressing these aspects, this paper aims to enhance the understanding of uncertainty visualization and for improving communication in time series forecast visualizations and the design of prediction data dashboards.

Convolutional Neural Networks (CNNs) combine large amounts of parallelizable computation with frequent memory access. Field Programmable Gate Arrays (FPGAs) can achieve low latency and high throughput CNN inference by implementing dataflow accelerators that pipeline layer-specific hardware to implement an entire network. By implementing a different processing element for each CNN layer, these layer-pipelined accelerators can achieve high compute density, but having all layers processing in parallel requires high memory bandwidth. Traditionally this has been satisfied by storing all weights on chip, but this is infeasible for the largest CNNs, which are often those most in need of acceleration. In this work we augment a state-of-the-art dataflow accelerator (HPIPE) to leverage both High-Bandwidth Memory (HBM) and on-chip storage, enabling high performance layer-pipelined dataflow acceleration of large CNNs. Based on profiling results of HBM's latency and throughput against expected address patterns, we develop an algorithm to choose which weight buffers should be moved off chip and how deep the on-chip FIFOs to HBM should be to minimize compute unit stalling. We integrate the new hardware generation within the HPIPE domain-specific CNN compiler and demonstrate good bandwidth efficiency against theoretical limits. Compared to the best prior work we obtain speed-ups of at least 19.4x, 5.1x and 10.5x on ResNet-18, ResNet-50 and VGG-16 respectively.

In [Muhl2019], Peter M\"uhlbacher showed that in the random loop model without loop weights, a loop phase transition (assuming it exists) cannot occur at the same parameter as the percolation phase transition of the occupied edges. In this work, we give a quantitative version of this result, specifying a minimal gap between the percolation phase transition and a possible loop phase transition. A substantial part of our argument also works for weighted loop models.

The automotive industry is transitioning from traditional ECU-based systems to software-defined vehicles. A central role of this revolution is played by containers, lightweight virtualization technologies that enable the flexible consolidation of complex software applications on a common hardware platform. Despite their widespread adoption, the impact of containerization on fundamental real-time metrics such as end-to-end latency, communication jitter, as well as memory and CPU utilization has remained virtually unexplored. This paper presents a microservice architecture for a real-world autonomous driving application where containers isolate each service. Our comprehensive evaluation shows the benefits in terms of end-to-end latency of such a solution even over standard bare-Linux deployments. Specifically, in the case of the presented microservice architecture, the mean end-to-end latency can be improved by 5-8 %. Also, the maximum latencies were significantly reduced using container deployment.

The landscape of software engineering is evolving rapidly amidst the digital transformation and the ascendancy of AI, leading to profound shifts in the role and responsibilities of software engineers. This evolution encompasses both immediate changes, such as the adoption of Language Model-based approaches in coding, and deeper shifts driven by the profound societal and environmental impacts of technology. Despite the urgency, there persists a lag in adapting to these evolving roles. By fostering ongoing discourse and reflection on Software Engineers role and responsibilities, this vision paper seeks to cultivate a new generation of software engineers equipped to navigate the complexities and ethical considerations inherent in their evolving profession.

This paper continues the investigations from [7] and is concerned with the derivation of first-order conditions for a control constrained optimization problem governed by a non-smooth elliptic PDE. The control enters the state equation not only linearly but also as the argument of a regularization of the Heaviside function. The non-linearity which acts on the state is locally Lipschitz-continuous and not necessarily differentiable, i.e., non-smooth. This excludes the application of standard adjoint calculus. We derive conditions under which a strong stationary optimality system can be established, i.e., a system that is equivalent to the purely primal optimality condition saying that the directional derivative of the reduced objective in feasible directions is nonnegative. For this, two assumptions are made on the unknown optimizer. These are fulfilled if the non-smoothness is locally convex around its non-differentiable points and if an estimate involving only the given data is true. Some of the presented findings are employed in the recent contribution [8], where limit optimality systems for non-smooth shape optimization problems [7] are established., Comment: 22 pages, just minor modifications, added the reference to arXiv:2409.15039, related to the preprints arXiv:2406.15146 (version 3) and arXiv:2409.15039

Education for sustainable development has evolved to include more constructive approaches and a better understanding of what is needed to align education with the cultural, societal, and pedagogical changes required to avoid the risks posed by an unsustainable society. This evolution aims to lead us toward viable, equitable, and sustainable futures. However, computing education, including software engineering, is not fully aligned with the current understanding of what is needed for transformational learning in light of our current challenges. This is partly because computing is primarily seen as a technical field, focused on industry needs. Until recently, sustainability was not a high priority for most businesses, including the digital sector, nor was it a prominent focus for higher education institutions and society. Given these challenges, we aim to propose a research roadmap to integrate sustainability principles and essential skills into the crowded computing curriculum, nurturing future software engineering professionals with a sustainability mindset. We conducted two extensive studies: a systematic review of academic literature on sustainability in computing education and a survey of industry professionals on their interest in sustainability and desired skills for graduates. Using insights from these studies, we identified key topics for teaching sustainability, including core sustainability principles, values and ethics, systems thinking, impact measurement, soft skills, business value, legal standards, and advocacy. Based on these findings, we will develop recommendations for future computing education programs that emphasise sustainability. The paper is accepted at the 2030 Software Engineering workshop, which is co-located with the FSE'24 conference.

This paper is concerned with a shape optimization problem governed by a non-smooth PDE, i.e., the nonlinearity in the state equation is not necessarily differentiable. We follow the functional variational approach of [40] where the set of admissible shapes is parametrized by a large class of continuous mappings. This methodology allows for both boundary and topological variations. It has the advantage that one can rewrite the shape optimization problem as a control problem in a function space. To overcome the lack of convexity of the set of admissible controls, we provide an essential density property. This permits us to show that each parametrization associated to the optimal shape is the limit of global optima of non-smooth distributed optimal control problems. The admissible set of the approximating minimization problems is a convex subset of a Hilbert space of functions. Moreover, its structure is such that one can derive strong stationary optimality conditions [6]. The present manuscript provides the basis for the investigations from [5], where necessary conditions in form of an optimality system have been recently established., Comment: 30 pages, just minor modifications, added an appendix for more clarification, added the arXiv link for the recent work [5]

Emergent-scene safety is the key milestone for fully autonomous driving, and reliable on-time prediction is essential to maintain safety in emergency scenarios. However, these emergency scenarios are long-tailed and hard to collect, which restricts the system from getting reliable predictions. In this paper, we build a new dataset, which aims at the long-term prediction with the inconspicuous state variation in history for the emergency event, named the Extro-Spective Prediction (ESP) problem. Based on the proposed dataset, a flexible feature encoder for ESP is introduced to various prediction methods as a seamless plug-in, and its consistent performance improvement underscores its efficacy. Furthermore, a new metric named clamped temporal error (CTE) is proposed to give a more comprehensive evaluation of prediction performance, especially in time-sensitive emergency events of subseconds. Interestingly, as our ESP features can be described in human-readable language naturally, the application of integrating into ChatGPT also shows huge potential. The ESP-dataset and all benchmarks are released at https://dingrui-wang.github.io/ESP-Dataset/., Comment: Accepted by ICRA 2024 as Oral Presentation

This research aims to investigate professional racing drivers' expertise to develop an understanding of their cognitive and adaptive skills to create new autonomy algorithms. An expert interview study was conducted with 11 professional race drivers, data analysts, and racing instructors from across prominent racing leagues. The interviews were conducted using an exploratory, non-standardized expert interview format guided by a set of prepared questions. The study investigates drivers' exploration strategies to reach their vehicle limits and contrasts them with the capabilities of state-of-the-art autonomous racing software stacks. Participants were questioned about the techniques and skills they have developed to quickly approach and maneuver at the vehicle limit, ultimately minimizing lap times. The analysis of the interviews was grounded in Mayring's qualitative content analysis framework, which facilitated the organization of the data into multiple categories and subcategories. Our findings create insights into human behavior regarding reaching a vehicle's limit and minimizing lap times. We conclude from the findings the development of new autonomy software modules that allow for more adaptive vehicle behavior. By emphasizing the distinct nuances between manual and autonomous driving techniques, the paper encourages further investigation into human drivers' strategies to maximize their vehicles' capabilities., Comment: 8 pages, 6 figures

Purpose: Paranasal anomalies, frequently identified in routine radiological screenings, exhibit diverse morphological characteristics. Due to the diversity of anomalies, supervised learning methods require large labelled dataset exhibiting diverse anomaly morphology. Self-supervised learning (SSL) can be used to learn representations from unlabelled data. However, there are no SSL methods designed for the downstream task of classifying paranasal anomalies in the maxillary sinus (MS). Methods: Our approach uses a 3D Convolutional Autoencoder (CAE) trained in an unsupervised anomaly detection (UAD) framework. Initially, we train the 3D CAE to reduce reconstruction errors when reconstructing normal maxillary sinus (MS) image. Then, this CAE is applied to an unlabelled dataset to generate coarse anomaly locations by creating residual MS images. Following this, a 3D Convolutional Neural Network (CNN) reconstructs these residual images, which forms our SSL task. Lastly, we fine-tune the encoder part of the 3D CNN on a labelled dataset of normal and anomalous MS images. Results: The proposed SSL technique exhibits superior performance compared to existing generic self-supervised methods, especially in scenarios with limited annotated data. When trained on just 10% of the annotated dataset, our method achieves an Area Under the Precision-Recall Curve (AUPRC) of 0.79 for the downstream classification task. This performance surpasses other methods, with BYOL attaining an AUPRC of 0.75, SimSiam at 0.74, SimCLR at 0.73 and Masked Autoencoding using SparK at 0.75. Conclusion: A self-supervised learning approach that inherently focuses on localizing paranasal anomalies proves to be advantageous, particularly when the subsequent task involves differentiating normal from anomalous maxillary sinuses. Access our code at https://github.com/mtec-tuhh/self-supervised-paranasal-anomaly

Recent developments of eco-evolutionary models have shown that evolving feedbacks between behavioral strategies and the environment of game interactions, leading to changes in the underlying payoff matrix, can impact the underlying population dynamics in various manners. We propose and analyze an eco-evolutionary game dynamics model on a network with two communities such that players interact with other players in the same community and those in the opposite community at different rates. In our model, we consider two-person matrix games with pairwise interactions occurring on individual edges and assume that the environmental state depends on edges rather than on nodes or being globally shared in the population. We analytically determine the equilibria and their stability under a symmetric population structure assumption, and we also numerically study the replicator dynamics of the general model. The model shows rich dynamical behavior, such as multiple transcritical bifurcations, multistability, and anti-synchronous oscillations. Our work offers insights into understanding how the presence of community structure impacts the eco-evolutionary dynamics within and between niches., Comment: 8 figures, 2 tables

The aim of this paper is to investigate the relationship between operational design domains (ODD), automated driving SAE Levels, and Technology Readiness Level (TRL). The first highly automated vehicles, like robotaxis, are in commercial use, and the first vehicles with highway pilot systems have been delivered to private customers. It has emerged as a crucial issue that these automated driving systems differ significantly in their ODD and in their technical maturity. Consequently, any approach to compare these systems is difficult and requires a deep dive into defined ODDs, specifications, and technologies used. Therefore, this paper challenges current state-of-the-art taxonomies and develops a new and integrated taxonomy that can structure automated vehicle systems more efficiently. We use the well-known SAE Levels 0-5 as the "level of responsibility", and link and describe the ODD at an intermediate level of abstraction. Finally, a new maturity model is explicitly proposed to improve the comparability of automated vehicles and driving functions. This method is then used to analyze today's existing automated vehicle applications, which are structured into the new taxonomy and rated by the new maturity levels. Our results indicate that this new taxonomy and maturity level model will help to differentiate automated vehicle systems in discussions more clearly and to discover white fields more systematically and upfront, e.g. for research but also for regulatory purposes.

Today's software stacks for autonomous vehicles rely on HD maps to enable sufficient localization, accurate path planning, and reliable motion prediction. Recent developments have resulted in pipelines for the automated generation of HD maps to reduce manual efforts for creating and updating these HD maps. We present FlexMap Fusion, a methodology to automatically update and enhance existing HD vector maps using OpenStreetMap. Our approach is designed to enable the use of HD maps created from LiDAR and camera data within Autoware. The pipeline provides different functionalities: It provides the possibility to georeference both the point cloud map and the vector map using an RTK-corrected GNSS signal. Moreover, missing semantic attributes can be conflated from OpenStreetMap into the vector map. Differences between the HD map and OpenStreetMap are visualized for manual refinement by the user. In general, our findings indicate that our approach leads to reduced human labor during HD map generation, increases the scalability of the mapping pipeline, and improves the completeness and usability of the maps. The methodological choices may have resulted in limitations that arise especially at complex street structures, e.g., traffic islands. Therefore, more research is necessary to create efficient preprocessing algorithms and advancements in the dynamic adjustment of matching parameters. In order to build upon our work, our source code is available at https://github.com/TUMFTM/FlexMap_Fusion., Comment: 7 pages

Deep learning (DL) is becoming the cornerstone of numerous applications both in datacenters and at the edge. Specialized hardware is often necessary to meet the performance requirements of state-of-the-art DL models, but the rapid pace of change in DL models and the wide variety of systems integrating DL make it impossible to create custom computer chips for all but the largest markets. Field-programmable gate arrays (FPGAs) present a unique blend of reprogrammability and direct hardware execution that make them suitable for accelerating DL inference. They offer the ability to customize processing pipelines and memory hierarchies to achieve lower latency and higher energy efficiency compared to general-purpose CPUs and GPUs, at a fraction of the development time and cost of custom chips. Their diverse high-speed IOs also enable directly interfacing the FPGA to the network and/or a variety of external sensors, making them suitable for both datacenter and edge use cases. As DL has become an ever more important workload, FPGA architectures are evolving to enable higher DL performance. In this article, we survey both academic and industrial FPGA architecture enhancements for DL. First, we give a brief introduction on the basics of FPGA architecture and how its components lead to strengths and weaknesses for DL applications. Next, we discuss different styles of DL inference accelerators on FPGA, ranging from model-specific dataflow styles to software-programmable overlay styles. We survey DL-specific enhancements to traditional FPGA building blocks such as logic blocks, arithmetic circuitry, and on-chip memories, as well as new in-fabric DL-specialized blocks for accelerating tensor computations. Finally, we discuss hybrid devices that combine processors and coarse-grained accelerator blocks with FPGA-like interconnect and networks-on-chip, and highlight promising future research directions.

We introduce a theoretical framework for the rational approximation of optical response functions in resonant photonic systems. The framework is based on the AAA algorithm and further allows to solve the underlying nonlinear eigenproblems and to efficiently model sensitivities. An adaptive sampling strategy exploits the predominance of resonances in the physical response. We investigate a chiral metasurface and show that the chiroptical response on parameter variations can be accurately modeled in the vicinity of the relevant resonance frequencies.

The F1TENTH autonomous driving platform, consisting of 1:10-scale remote-controlled cars, has evolved into a well-established education and research platform. The many publications and real-world competitions span many domains, from classical path planning to novel learning-based algorithms. Consequently, the field is wide and disjointed, hindering direct comparison of developed methods and making it difficult to assess the state-of-the-art. Therefore, we aim to unify the field by surveying current approaches, describing common methods, and providing benchmark results to facilitate clear comparisons and establish a baseline for future work. This research aims to survey past and current work with F1TENTH vehicles in the classical and learning categories and explain the different solution approaches. We describe particle filter localisation, trajectory optimisation and tracking, model predictive contouring control, follow-the-gap, and end-to-end reinforcement learning. We provide an open-source evaluation of benchmark methods and investigate overlooked factors of control frequency and localisation accuracy for classical methods as well as reward signal and training map for learning methods. The evaluation shows that the optimisation and tracking method achieves the fastest lap times, followed by the online planning approach. Finally, our work identifies and outlines the relevant research aspects to help motivate future work in the F1TENTH domain., Comment: 12 pages, 18 figures. Sumbitted for publication

Exceptional points are spectral degeneracies of non-Hermitian systems where both eigenfrequencies and eigenmodes coalesce. The eigenfrequency sensitivities near an exceptional point are significantly enhanced, whereby they diverge directly at the exceptional point. Capturing this enhanced sensitivity is crucial for the investigation and optimization of exceptional-point-based applications, such as optical sensors. We present a numerical framework, based on contour integration and algorithmic differentiation, to accurately and efficiently compute eigenfrequency sensitivities near exceptional points. We demonstrate the framework to an optical microdisk cavity and derive a semi-analytical solution to validate the numerical results. The computed eigenfrequency sensitivities are used to track the exceptional point along an exceptional surface in the parameter space. The presented framework can be applied to any kind of resonance problem, e.g., with arbitrary geometry or with exceptional points of arbitrary order.

Extensive testing is necessary to ensure the safety of autonomous driving modules. In addition to component tests, the safety assessment of individual modules also requires a holistic view at system level, which can be carried out efficiently with the help of simulation. Achieving seamless compatibility between a modular software stack and simulation is complex and poses a significant challenge for many researchers. To ensure testing at the system level with state-of-the-art AV software and simulation software, we have developed and analyzed a bridge connecting the CARLA simulator with the AV software Autoware Core/Universe. This publicly available bridge enables researchers to easily test their modules within the overall software. Our investigations show that an efficient and reliable communication system has been established. We provide the simulation bridge as open-source software at https://github.com/TUMFTM/Carla-Autoware-Bridge, Comment: Submitted to 2024 IEEE Intelligent Vehicles Symposium (IV)

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios with changing vehicle interactions for comprehensive validation. This work introduces a novel synchronous multi-agent simulation framework for autonomous vehicles in interactive scenarios. Our approach creates an interactive scenario and incorporates publicly available edge-case scenarios wherein simulated vehicles are replaced by agents navigating to predefined destinations. We provide a platform that enables the integration of different autonomous driving planning methodologies and includes a set of evaluation metrics to assess autonomous driving behavior. Our study explores different planning setups and adjusts simulation complexity to test the framework's adaptability and performance. Results highlight the critical role of simulating vehicle interactions to enhance autonomous driving systems. Our setup offers unique insights for developing advanced algorithms for complex driving tasks to accelerate future investigations and developments in this field. The multi-agent simulation framework is available as open-source software: https://github.com/TUM-AVS/Frenetix-Motion-Planner, Comment: 8 Pages. Submitted to IEEE IV 2024 Korea Conference

Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques solve this problem by determining a Pareto optimal parameter set for an MPC with static weights. However, a single parameter set may not deliver the most optimal closed-loop control performance when the context of the MPC operating conditions changes during its operation, urging the need to adapt the cost function weights at runtime. Deep Reinforcement Learning (RL) algorithms can automatically learn context-dependent optimal parameter sets and dynamically adapt for a Weightsvarying MPC (WMPC). However, learning cost function weights from scratch in a continuous action space may lead to unsafe operating states. To solve this, we propose a novel approach limiting the RL actions within a safe learning space representing a catalog of pre-optimized BO Pareto-optimal weight sets. We conceive a RL agent not to learn in a continuous space but to proactively anticipate upcoming control tasks and to choose the most optimal discrete actions, each corresponding to a single set of Pareto optimal weights, context-dependent. Hence, even an untrained RL agent guarantees a safe and optimal performance. Experimental results demonstrate that an untrained RL-WMPC shows Pareto-optimal closed-loop behavior and training the RL-WMPC helps exhibit a performance beyond the Pareto-front.

Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With this contribution, we formulate racing as a dynamic game and employ a variant of iLQR, called iLQGames, to solve the game. iLQGames finds trajectories for all players that satisfy the equilibrium conditions for a linear-quadratic approximation of the game and has been previously applied in traffic scenarios. We analyze the algorithm's applicability for trajectory planning in racing scenarios and evaluate it based on interaction awareness, competitiveness, and safety. With the ability of iLQGames to solve for open-loop and feedback Nash equilibria, we compare the behavioral outcomes of the two equilibrium concepts in simple scenarios on a straight track section., Comment: 8 pages, submitted to be published at the 35th IEEE Intelligent Vehicles Symposium, June 2 - 5, 2024, Jeju Shinhwa World, Jeju Island, Korea

Our work introduces a module for assessing the trajectory safety of autonomous vehicles in dynamic environments marked by high uncertainty. We focus on occluded areas and occluded traffic participants with limited information about surrounding obstacles. To address this problem, we propose a software module that handles blind spots (BS) created by static and dynamic obstacles in urban environments. We identify potential occluded traffic participants, predict their movement, and assess the ego vehicle's trajectory using various criticality metrics. The method offers a straightforward and modular integration into motion planner algorithms. We present critical real-world scenarios to evaluate our module and apply our approach to a publicly available trajectory planning algorithm. Our results demonstrate that safe yet efficient driving with occluded road users can be achieved by incorporating safety assessments into the planning process. The code used in this research is publicly available as open-source software and can be accessed at the following link: https://github.com/TUM-AVS/Frenetix-Occlusion., Comment: 8 Pages. Submitted to IEEE IV Conference, Korea

This study introduces a novel approach to autonomous motion planning, informing an analytical algorithm with a reinforcement learning (RL) agent within a Frenet coordinate system. The combination directly addresses the challenges of adaptability and safety in autonomous driving. Motion planning algorithms are essential for navigating dynamic and complex scenarios. Traditional methods, however, lack the flexibility required for unpredictable environments, whereas machine learning techniques, particularly reinforcement learning (RL), offer adaptability but suffer from instability and a lack of explainability. Our unique solution synergizes the predictability and stability of traditional motion planning algorithms with the dynamic adaptability of RL, resulting in a system that efficiently manages complex situations and adapts to changing environmental conditions. Evaluation of our integrated approach shows a significant reduction in collisions, improved risk management, and improved goal success rates across multiple scenarios. The code used in this research is publicly available as open-source software and can be accessed at the following link: https://github.com/TUM-AVS/Frenetix-RL., Comment: 8 Pages. Submitted in Conference IEEE IV 2024 Korea

Our research introduces a modular motion planning framework for autonomous vehicles using a sampling-based trajectory planning algorithm. This approach effectively tackles the challenges of solution space construction and optimization in path planning. The algorithm is applicable to both real vehicles and simulations, offering a robust solution for complex autonomous navigation. Our method employs a multi-objective optimization strategy for efficient navigation in static and highly dynamic environments, focusing on optimizing trajectory comfort, safety, and path precision. The algorithm is used to analyze the algorithm performance and success rate in 1750 virtual complex urban and highway scenarios. Our results demonstrate fast calculation times (8ms for 800 trajectories), a high success rate in complex scenarios (88%), and easy adaptability with different modules presented. The most noticeable difference exhibited was the fast trajectory sampling, feasibility check, and cost evaluation step across various trajectory counts. We demonstrate the integration and execution of the framework on real vehicles by evaluating deviations from the controller using a test track. This evaluation highlights the algorithm's robustness and reliability, ensuring it meets the stringent requirements of real-world autonomous driving scenarios. The code and the additional modules used in this research are publicly available as open-source software and can be accessed at the following link: https://github.com/TUM-AVS/Frenetix-Motion-Planner., Comment: Submitted to IEEE ACCESS