Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.16336 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866911412842921984 |
|---|---|
| author | Islam, Zubair El-Darieby, Mohamed |
| author_facet | Islam, Zubair El-Darieby, Mohamed |
| contents | Simulating and validating coordination among multiple autonomous vehicles remains challenging, as many existing simulation architectures are limited to single-vehicle operation or rely on centralized control. This paper presents the Distributed Multi-Autonomous Vehicle Architecture (DMAVA), a simulation architecture that enables concurrent execution of multiple independent vehicle autonomy stacks distributed across multiple physical hosts within a shared simulation environment. Each vehicle operates its own complete autonomous driving stack while maintaining coordinated behavior through a data-centric communication layer. The proposed system integrates ROS 2 Humble, Autoware Universe, AWSIM Labs, and Zenoh to support high data accuracy and controllability during multi-vehicle simulation, enabling consistent perception, planning, and control behavior under distributed execution. Experiments conducted on multiple-host configurations demonstrate stable localization, reliable inter-host communication, and consistent closed-loop control under distributed execution. DMAVA also serves as a foundation for Multi-Vehicle Autonomous Valet Parking, demonstrating its extensibility toward higher-level cooperative autonomy. Demo videos and source code are available at: https://github.com/zubxxr/distributed-multi-autonomous-vehicle-architecture. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_16336 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | DMAVA: Distributed Multi-Autonomous Vehicle Architecture Using Autoware Islam, Zubair El-Darieby, Mohamed Robotics Artificial Intelligence Multiagent Systems Simulating and validating coordination among multiple autonomous vehicles remains challenging, as many existing simulation architectures are limited to single-vehicle operation or rely on centralized control. This paper presents the Distributed Multi-Autonomous Vehicle Architecture (DMAVA), a simulation architecture that enables concurrent execution of multiple independent vehicle autonomy stacks distributed across multiple physical hosts within a shared simulation environment. Each vehicle operates its own complete autonomous driving stack while maintaining coordinated behavior through a data-centric communication layer. The proposed system integrates ROS 2 Humble, Autoware Universe, AWSIM Labs, and Zenoh to support high data accuracy and controllability during multi-vehicle simulation, enabling consistent perception, planning, and control behavior under distributed execution. Experiments conducted on multiple-host configurations demonstrate stable localization, reliable inter-host communication, and consistent closed-loop control under distributed execution. DMAVA also serves as a foundation for Multi-Vehicle Autonomous Valet Parking, demonstrating its extensibility toward higher-level cooperative autonomy. Demo videos and source code are available at: https://github.com/zubxxr/distributed-multi-autonomous-vehicle-architecture. |
| title | DMAVA: Distributed Multi-Autonomous Vehicle Architecture Using Autoware |
| topic | Robotics Artificial Intelligence Multiagent Systems |
| url | https://arxiv.org/abs/2601.16336 |