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<!DOCTYPE html>
<html lang="en">
<head>
<meta name="generator" content="Hugo 0.61.0" />
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<title>MuSHR: The UW Open Racecar Project</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta name="description" content="The Multi-agent System for non-Holonomic Racing (MuSHR) is an open-source robotic hardware and software platform for learning and researching AI in a the setting of autonomous vehicles and mobile robotics." />
<meta property="og:title" content="MuSHR: The UW Open Racecar Project" />
<meta property="og:type" content="website" />
<meta property="og:url" content="https://prl-mushr.github.io" />
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<meta property="og:description" content="The Multi-agent System for non-Holonomic Racing (MuSHR) is an open-source robotic hardware and software platform for learning and researching AI in a the setting of autonomous vehicles and mobile robotics." />
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<meta name="twitter:site" content="@MichaloveJohan" />
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<div class="col-12 col-md-12 col-lg-6 order-2 order-lg-1">
<h1 id="an-accessible-platform-for-mobile-multi-agent-robotics">An Accessible Platform for Mobile, Multi-Agent Robotics.</h1>
<h2 id="the-font-colorff1690multi-agent-system-for-non-holonomic-racing-mushr-font-is-an-open-source-robotic-hardware-and-software-platform-for-learning-and-researching-ai-in-a-the-setting-of-autonomous-vehicles-and-mobile-robotics">The <font color="#FF1690">Multi-agent System for non-Holonomic Racing (MuSHR) </font> is an open-source robotic hardware and software platform for learning and researching AI in a the setting of autonomous vehicles and mobile robotics.</h2>
<div class="get-started">
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Operate your own vehicle in simulation
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<a href="https://mushr.io/tutorials/quickstart/" class="button gs">Get Started</a>
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<div class="container pt-6 pb-6 pt-md-7 pb-md-12" id="mushr-vid">
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<script src="https://fast.wistia.com/embed/medias/ziu9549is5.jsonp" async></script><script src="https://fast.wistia.com/assets/external/E-v1.js" async></script><div class="wistia_responsive_padding" style="padding:50.0% 0 0 0;position:relative;"><div class="wistia_responsive_wrapper" style="height:100%;left:0;position:absolute;top:0;width:100%;"><div class="wistia_embed wistia_async_ziu9549is5 videoFoam=true" style="height:100%;position:relative;width:100%"><div class="wistia_swatch" style="height:100%;left:0;opacity:0;overflow:hidden;position:absolute;top:0;transition:opacity 200ms;width:100%;"><img src="https://fast.wistia.com/embed/medias/ziu9549is5/swatch" style="filter:blur(5px);height:100%;object-fit:contain;width:100%;" alt="" aria-hidden="true" onload="this.parentNode.style.opacity=1;" /></div></div></div></div>
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<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/quickstart/">Quickstart</a>
</h2>
<p>Run the MuSHR platform on your machine!</p>
</div>
</div>
</div>
<div class="col-12 col-md-4 mb-1">
<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/intro-to-ros/">Intro to ROS</a>
</h2>
<p>Fundamental Robot Operating System (ROS) concepts using MuSHR.</p>
</div>
</div>
</div>
<div class="col-12 col-md-4 mb-1">
<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/overview/">MuSHR System Overview</a>
</h2>
<p>Basic components of the car and their associated software counterparts.</p>
</div>
</div>
</div>
<div class="col-12 col-md-4 mb-1">
<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/carpose/">Car Pose Detection and Yolo Learning</a>
</h2>
<p>Train a model to detect MuSHR cars.</p>
</div>
</div>
</div>
<div class="col-12 col-md-4 mb-1">
<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/mujoco/">MuJoCo Simulation</a>
</h2>
<p>Run a MuSHR simulation with the MuJoCo physics engine.</p>
</div>
</div>
</div>
<div class="col-12 col-md-4 mb-1">
<div class="tutorial tutorial-summary">
<div class="tutorial-content">
<h2 class="tutorial-title">
<a href="https://mushr.io/tutorials/deep_learning/">Applying Deep Learning to Autonomous Driving</a>
</h2>
<p>A basic tutorial on using Imitation learning and Reinforcement learning for driving the MuSHR car</p>
</div>
</div>
</div>
<div class="col-12 text-center">
<a class="button button-primary" href="https://mushr.io/tutorials">View All Tutorials</a>
</div>
</div>
</div>
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<div class="container pt-6 pb-6 pt-md-12 pb-md-12">
<div class="row justify-content-center">
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="Rally Chassis logo" src="/features/noun_power_tools_1885321.svg" /></div>
<h2 class="feature-title">Rally Chassis</h2>
<div class="feature-content">
<p>A powerful 1/10 scale rally car chassis provides four wheel drive, brushed DC motor, and ESC suitable for most speeds (0-30 mph).</p>
</div>
</div>
</div>
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="Budget Friendly logo" src="/features/noun_the_process_1885341.svg" /></div>
<h2 class="feature-title">Budget Friendly</h2>
<div class="feature-content">
<p>The base MuSHR car with no sensing has a bill-of-materials (BOM) cost of $610, while a fully equipped car costs around $930.</p>
</div>
</div>
</div>
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="Simulation logo" src="/features/noun_3d_modeling_1885342.svg" /></div>
<h2 class="feature-title">Simulation</h2>
<div class="feature-content">
<p>Our ROS-based simulator let's you prototype your system without needing to turn on the robot, saving you valuable time when you do.</p>
</div>
</div>
</div>
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="LiDAR logo" src="/features/noun_visualization_1885332.svg" /></div>
<h2 class="feature-title">LiDAR</h2>
<div class="feature-content">
<p>Integration with the YDLiDAR X4 provides a 360 degree FOV at 10hz, all in a radically economic package.</p>
</div>
</div>
</div>
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="IMU logo" src="/features/noun_visual%20effect_1885325.svg" /></div>
<h2 class="feature-title">IMU</h2>
<div class="feature-content">
<p>Learn the principles of sensor fusion or test your latest SLAM algorithm using the Razor 9dof IMU or any other of your choice.</p>
</div>
</div>
</div>
<div class="col-12 col-md-6 col-lg-4 mb-2">
<div class="feature">
<div class="feature-image"><img alt="RGBD Camera logo" src="/features/noun_Video%20Production_1885345.svg" /></div>
<h2 class="feature-title">RGBD Camera</h2>
<div class="feature-content">
<p>MuSHR uses the Intel Realsense line of RGBD cameras to provide point clouds for tasks such as obstacle avoidance or object tracking.</p>
</div>
</div>
</div>
</div>
</div>
</div>
<div class="strip">
<div class="container pt-3 pb-3 pt-md-6 pb-md-3 px-2">
<div class="row justify-content-center teaching-row">
<div class="col-12 col-md-6">
<h1 id="teaching">Classroom Tested</h1>
<p> We have refined the MuSHR platform through two undergraduate and two graduate robotics courses,
distilling lessons learned into the V3 roboracer. From these endeavors, we offer ready-to-go
<a href="https://courses.cs.washington.edu/courses/cse490r/19sp/#assignments">labs and assignments</a>, as well as
sample <a href="https://courses.cs.washington.edu/courses/cse490r/19sp/#schedule">curricula and slides</a>
that were well-received in the recent undergraduate level robotics course
"<a href="https://courses.cs.washington.edu/courses/cse490r/19sp/">Mobile Robots</a>".
</p>
</div>
<div class="col-12 col-md-6">
<table class="table table-striped">
<tbody>
<tr>
<td>Winter, 2020</td>
<td>Undergraduate</td>
<td>
<a href="https://courses.cs.washington.edu/courses/cse478/20wi/">Autonomous Robots</a>
</td>
</tr>
<tr>
<td>Spring, 2019</td>
<td>Undergraduate</td>
<td>
<a href="https://courses.cs.washington.edu/courses/cse490r/19sp/">Mobile Robots</a>
</td>
</tr>
<tr>
<td>Winter, 2019</td>
<td>Graduate</td>
<td>
<a href="https://courses.cs.washington.edu/courses/cse571/19wi/">Robotics: Algorithms and Applications</a>
</td>
</tr>
<tr>
<td>Autumn, 2018</td>
<td>Graduate</td>
<td>
Introduction to AI for Mobile Robots
</td>
</tr>
<tr>
<td>Winter, 2018</td>
<td>Undergraduate</td>
<td>
<a href="https://courses.cs.washington.edu/courses/cse490r/18wi/">Robotics</a>
</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
</div>
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<div class="container pt-3 pb-3 pt-md-6 pb-md-3 px-2">
<div class="row justify-content-left citation-row">
<h1 id="citation">Citation</h1>
<p>
If you plan to use any part of the the MuSHR platform (including tutorials, codebase, or hardware instructions) for a project or paper, please cite
<em><a href="https://arxiv.org/abs/1908.08031">MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research</a></em>.
</p>
<div class="highlight"><pre class="chroma">@article{srinivasa2019mushr,
title={{MuSHR}: A Low-Cost, Open-Source Robotic Racecar for Education and Research},
author={Srinivasa, Siddhartha S. and Lancaster, Patrick and Michalove, Johan and Schmittle, Matt and Summers, Colin and Rockett, Matthew and Smith, Joshua R. and Chouhury, Sanjiban and Mavrogiannis, Christoforos and Sadeghi, Fereshteh},
journal={CoRR},
volume={abs/1908.08031},
year={2019}
}
</pre></div>
<br/>
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<h3 class="footer-title">MuSHR: The UW Open Racecar Project</h3>
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<li class="prl">Made with <font color="#FF1690">♥</font> at the <a href="https://personalrobotics.cs.washington.edu/">Personal Robotics Lab</a></li>
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<ul>
<li class="prl">Website by <a href="https://micha.love/"><font color="#36CDC4">Johan</font></a></li>
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