{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129207"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129207","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Sim-on-wheels: Physical world in the loop simulation for self-driving","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","abstract_has_math":false,"creators":["Chandaka, Bhargav"],"institution":"University of Illinois Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Computer Science","degree_department":null,"school":null,"contributors":["Wang, Shenlong"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-04-16","date_published":"2025-04-16","updated_at":"2026-07-22T22:25:04Z","subjects":["Safety","Robot sensing systems","Real-time systems","Autonomous agents","Simulation","Animation","Autonomous vehicles"],"languages":["en","eng"],"rights":["Copyright 2025 Bhargav Chandaka"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129207","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Wang, Shenlong"]},{"key":"dc:creator","label":"Author","values":["Chandaka, Bhargav"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-04-16","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text","Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Computer Science"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Safety","Robot sensing systems","Real-time systems","Autonomous agents","Simulation","Animation","Autonomous vehicles"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2025 Bhargav Chandaka"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129207"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Bhargav Chandaka, accepted the attached license on 2025-04-15 at 21:27.","The student, Bhargav Chandaka, submitted this Thesis for approval on 2025-04-15 at 21:32.","This Thesis was approved for publication on 2025-04-16 at 07:49.","DSpace SAF Submission Ingestion Package generated from Vireo submission #21789 on 2025-10-19 at 18:09:25","We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles’ performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical world. It creates virtual traffic participants with risky behaviors and seamlessly inserts the virtual events into images perceived from the physical world in real-time. The manipulated images are fed into autonomy, allowing the self-driving vehicle to react to such virtual events. The full pipeline runs on the actual vehicle and interacts with the physical world, but the safety-critical events it sees are virtual. Sim-on-Wheels is safe, interactive, realistic, and easy to use. The experiments demonstrate the potential of Sim-on-Wheels to facilitate the process of testing autonomous driving in challenging real-world scenes with high fidelity and low risk. Additional results and open-sourced code are available on our project page here: https://sim-on-wheels.github.io/."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Sim-on-wheels: Physical world in the loop simulation for self-driving"]}]}],"canonical_facts":{"dc:contributor":["Wang, Shenlong"],"dc:creator":["Chandaka, Bhargav"],"dc:date":["2025-04-16","2025-05"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms","The student, Bhargav Chandaka, accepted the attached license on 2025-04-15 at 21:27.","The student, Bhargav Chandaka, submitted this Thesis for approval on 2025-04-15 at 21:32.","This Thesis was approved for publication on 2025-04-16 at 07:49.","DSpace SAF Submission Ingestion Package generated from Vireo submission #21789 on 2025-10-19 at 18:09:25","We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles’ performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical world. It creates virtual traffic participants with risky behaviors and seamlessly inserts the virtual events into images perceived from the physical world in real-time. The manipulated images are fed into autonomy, allowing the self-driving vehicle to react to such virtual events. The full pipeline runs on the actual vehicle and interacts with the physical world, but the safety-critical events it sees are virtual. Sim-on-Wheels is safe, interactive, realistic, and easy to use. The experiments demonstrate the potential of Sim-on-Wheels to facilitate the process of testing autonomous driving in challenging real-world scenes with high fidelity and low risk. Additional results and open-sourced code are available on our project page here: https://sim-on-wheels.github.io/."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129207"],"dc:language":["en","eng"],"dc:rights":["Copyright 2025 Bhargav Chandaka"],"dc:subject":["Safety","Robot sensing systems","Real-time systems","Autonomous agents","Simulation","Animation","Autonomous vehicles"],"dc:title":["Sim-on-wheels: Physical world in the loop simulation for self-driving"],"dc:type":["text","Thesis"],"thesis:degree_discipline":["Computer Science"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:04Z"}