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Industry R&D | NTU
AESV Heavy-Duty Autonomous Sweeper
Full-stack autonomous driving deployed on a 4-ton sweeper at 13 km/h
Apr 2024 – Jul 2025
Overview
Led full-stack software development for autonomous driving on the AgileX Hunter 2.0 and a 4-ton articulated Bucher Municipal Sweeper. Customized and deployed the Autoware Universe autonomy stack on both platforms. Developed a digital-twin autonomous simulation system in CARLA (UE4) for validation before field testing. Delivered autonomous field demos at NTU and CETRAN, with the Sweeper reaching 13 km/h.
AESV Sweeper
System Architecture
Field Demo
Memories
Hunter 2.0
System Architecture
Field Demo
Memories
Digital-Twin Autonomous Simulator
NTU Carpark P
CETRAN Test Track
Autoware UniverseROS2LiDAR CenterPointTensorRTCARLA/UE4ros1_bridgeFkie Multi MasterZeroMQNDT+EKF