A Cloud-Assisted Design for Autonomous Driving

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This paper presents Carcel, a cloud-assisted system for autonomous driving. Carcel enables the cloud to have access to sensor data from autonomous vehicles as well as the roadside infrastructure. The cloud assists autonomous vehicles that use this system to avoid obstacles such as pedestrians and other vehicles that may not be directly detected by sensors on the vehicle. Further, Carcel enables vehicles to plan efficient paths that account for unexpected events such as road-work or accidents. The authors evaluate a preliminary prototype of Carcel on a state-of-the-art autonomous driving system in an outdoor testbed including an autonomous golf car and six iRobot Create robots.