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--- en:safeav:softsys:autonomysoftstack [2025/10/17 11:58] – agrisnik
+++ en:safeav:softsys:autonomysoftstack [2025/10/17 12:04] (current) – agrisnik
@@ Line 73: / Line 73: @@
   * Data collection for machine learning retraining.
 Frameworks like AWS RoboMaker, NVIDIA DRIVE Sim, and Microsoft AirSim bridge onboard autonomy with cloud computation.
+===== Data Flow in the Autonomy Software Stack =====
+Autonomy systems rely on data pipelines that move information between layers in real time.
+<figure Data Flow in an Autonomy Software Stack  >
+{{ :en:safeav:as:as:rtu_ch3_figure2.png?400| Data Flow in an Autonomy Software Stack }}
+<caption>Data Flow in an Autonomy Software Stack</caption>
+</figure>
+Each stage includes feedback loops to ensure error correction and safety monitoring ((Thrun, S. (2010). Toward robotic cars. Communications of the ACM, 53(4), 99–106)) ((Raj, A., & Saxena, P. (2022). Software architectures for autonomous vehicle development: Trends and challenges. IEEE Access, 10, 54321–54345)).
+===== Example Implementations =====
+**ROS 2-Based Stack (Research and Prototyping)**
+  * Used in academic and industrial R&D.
+  * Flexible and modular, ideal for simulation and experimental platforms.
+  * Integration with Gazebo, RViz, and DDS middleware.
+**AUTOSAR Adaptive Platform (Automotive)**
+  * Industry-grade framework for production vehicles.
+  * Service-oriented architecture with real-time OS and safety mechanisms.
+  * Supports ISO 26262 compliance and multi-core systems.
+**MOOS-IvP (Marine Autonomy)**
+  * Middleware focused on marine robotics.
+  * Behaviour-based architecture with mission planning (IvP Helm).
+  * Optimised for low-bandwidth communication and robustness ((Benjamin, M. R., Curcio, J. A., & Leonard, J. J. (2012). MOOS-IvP autonomy software for marine robots. Journal of Field Robotics, 29(6), 821–835)).
+**Hybrid Cloud-Edge Architectures**
+  * Combine onboard autonomy with cloud processing (for model training or high-level optimisation).
+  * Used in large-scale fleet operations (e.g., logistics robots, aerial mapping).
+  * Requires secure communication channels and data orchestration ((Wang, L., Xu, X., & Nee, A. Y. C. (2022). Digital twin-enabled integration in manufacturing. CIRP Annals, 71(1), 105–128)).
+===== Layer Interaction Example – Autonomous Vehicle =====
+<figure Simplified Interaction Example  >
+{{ :en:safeav:as:as:rtu_ch3_figure3.png?400| Simplified Interaction Example }}
+<caption>Simplified Interaction Example</caption>
+</figure>
+This closed-loop data exchange ensures real-time responsiveness, robust error recovery, and cross-module coherence.

en/safeav/softsys/autonomysoftstack.1760702330.txt.gz · Last modified: 2025/10/17 11:58 by agrisnik