{"id":{"repo_id":"uoit","oai_identifier":"oai:ontariotechu.scholaris.ca:10155/2099"},"canonical_url":"https://search.dev.ndltd.org/etd/uoit/oai:ontariotechu.scholaris.ca:10155/2099","repository":{"repo_id":"uoit","name":"Ontario Institute of Technology","base_url":"https://ontariotechu.scholaris.ca/server/oai/request"},"display":{"title":"A distributed multi-vehicle architecture for autonomous driving simulation with an application to autonomous valet parking","abstract":"Simulation platforms are essential for developing and validating autonomous driving systems before real-world deployment. However, most existing simulators are designed for single-vehicle scenarios and provide limited support for distributed multi-vehicle experimentation across multiple computing hosts. This thesis presents the Distributed Multi- Autonomous Vehicle Architecture (DMAVA), which enables multiple AVs to operate concurrently in a shared simulation environment while maintaining independent autonomy stacks. The architecture integrates Autoware, AWSIM Labs, ROS 2 namespaces, and Zenoh-based cross-host communication to support distributed experimentation. Building on this framework, the Distributed Multi-Vehicle Autonomous Valet Parking System (DMV-AVP) is introduced as an application layer that integrates infrastructure-assisted perception through a YOLOv5-based overhead camera module and a multi-vehicle AVP coordination framework for managing shared parking resources. The system enables coordinated vehicle sequencing, exclusive parking spot allocation, and distributed vehicle state synchronization. Experimental validation using two-host and three-host deployments demonstrates stable localization, reliable inter-host communication, and coordinated multi-vehicle AVP behavior.","abstract_html":"Simulation platforms are essential for developing and validating autonomous driving systems before real-world deployment. However, most existing simulators are designed for single-vehicle scenarios and provide limited support for distributed multi-vehicle experimentation across multiple computing hosts. This thesis presents the Distributed Multi- Autonomous Vehicle Architecture (DMAVA), which enables multiple AVs to operate concurrently in a shared simulation environment while maintaining independent autonomy stacks. The architecture integrates Autoware, AWSIM Labs, ROS 2 namespaces, and Zenoh-based cross-host communication to support distributed experimentation. Building on this framework, the Distributed Multi-Vehicle Autonomous Valet Parking System (DMV-AVP) is introduced as an application layer that integrates infrastructure-assisted perception through a YOLOv5-based overhead camera module and a multi-vehicle AVP coordination framework for managing shared parking resources. The system enables coordinated vehicle sequencing, exclusive parking spot allocation, and distributed vehicle state synchronization. Experimental validation using two-host and three-host deployments demonstrates stable localization, reliable inter-host communication, and coordinated multi-vehicle AVP behavior.","abstract_has_math":false,"creators":["Islam, Zubair"],"institution":"University of Ontario Institute of Technology","degree_name":"Master of Applied Science (MASc)","degree_level":null,"degree_discipline":"Software Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["El-Darieby, Mohamed"],"committee_chairs":[],"committee_members":[],"year":2026,"date_issued":"2026-04-01","date_published":"2026-04-01","updated_at":"2026-07-24T05:35:16Z","subjects":[],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10155/2099","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["El-Darieby, Mohamed"]},{"key":"dc:creator","label":"Author","values":["Islam, Zubair"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2026-04-29T14:24:33Z"]},{"key":"dc:date.issued","label":"Date","values":["2026-04-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Software Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Ontario Institute of Technology"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10155/2099"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Simulation platforms are essential for developing and validating autonomous driving systems before real-world deployment. However, most existing simulators are designed for single-vehicle scenarios and provide limited support for distributed multi-vehicle experimentation across multiple computing hosts. This thesis presents the Distributed Multi- Autonomous Vehicle Architecture (DMAVA), which enables multiple AVs to operate concurrently in a shared simulation environment while maintaining independent autonomy stacks. The architecture integrates Autoware, AWSIM Labs, ROS 2 namespaces, and Zenoh-based cross-host communication to support distributed experimentation. Building on this framework, the Distributed Multi-Vehicle Autonomous Valet Parking System (DMV-AVP) is introduced as an application layer that integrates infrastructure-assisted perception through a YOLOv5-based overhead camera module and a multi-vehicle AVP coordination framework for managing shared parking resources. The system enables coordinated vehicle sequencing, exclusive parking spot allocation, and distributed vehicle state synchronization. Experimental validation using two-host and three-host deployments demonstrates stable localization, reliable inter-host communication, and coordinated multi-vehicle AVP behavior."]},{"key":"dc:title","label":"Title","values":["A distributed multi-vehicle architecture for autonomous driving simulation with an application to autonomous valet parking"]}]}],"canonical_facts":{"dc:contributor.advisor":["El-Darieby, Mohamed"],"dc:creator":["Islam, Zubair"],"dc:date.accessioned":["2026-04-29T14:24:33Z"],"dc:date.issued":["2026-04-01"],"dc:description.abstract":["Simulation platforms are essential for developing and validating autonomous driving systems before real-world deployment. However, most existing simulators are designed for single-vehicle scenarios and provide limited support for distributed multi-vehicle experimentation across multiple computing hosts. 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