DYNO is a collection of extension modules to Project Chrono to interface with software developed by the Aarhus Robotics research group at Aarhus University.
DYNO allows users to:
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Perform verification studies for ground (wheeled and tracked) vehicles
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Perform design exploration and uncertainty quantification studies
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Validate and test autonomous navigation systems for ground vehicles
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Generate datasets for high-fidelity multibody dynamics vehicle models
At this time, DYNO can be used to:
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🚗 Test ground vehicle models in straight line acceleration and braking tests, slope climbing and descent tests, double lane change maneuvers, split friction (μ) tests, drawbar-pull tests, autonomous single and multiple obstacle avoidance tests.
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🖹 Generate simulation output in JSON or HDF5 format.
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📈 Postprocess simulation output directly to Pandas, CSV or PDF (report) format.
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🤖 Simulate autonomous vehicles through a native or co-simulated ROS 2 interface.
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📊 Optimization and uncertainty quantification (UQ) studies using Sandia National Laboratories Dakota.
DYNO is in continuous development with the ever-changing needs of research group. If you would like to add a new feature, feel free to open a pull request. We are also open to hearing your feedback, bug reports and feature requests through GitHub issues.
To get started using DYNO, you can:
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🐋 Build and run the bundled Docker image by following the Docker installation guide
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🖥️ Build from source by following the build guide
You can learn more about how to install and use DYNO at docs.aarhusrobotics.com/dyno.
The repository contains the following:
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A Python package (pydyno) for postprocessing the results. The package has a matching Poetry environment.
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A set of examples for Dakota under examples/.
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A paper for the Journal of Open Source Software (JOSS) under paper/.
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A collection of ROS package to interface DYNO with ROS under ros/. Please note that DYNO uses a separate ROS interface than Project Chrono.
DYNO is licensed using the permissive MIT software license. You can do whatever you want as long as you include the original copyright and license notice in any copy of the software/source. Please refer to the license full text for more information the license terms.