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DMAVA: Distributed Multi-Autonomous Vehicle Architecture

A distributed simulation architecture for autonomous vehicles integrating Autoware Universe, AWSIM Labs, and Zenoh for synchronized multi-vehicle operation.

Autoware AWSIM Labs ROS 2 Humble Zenoh License

DMAVA provides a complete setup for running Autoware and AWSIM Labs in a multi-host, multi-vehicle simulation environment.

It enables simulation of multiple autonomous vehicles across different physical machines while maintaining synchronized perception, localization, planning, and control.

Features

  • Distributed simulation across multiple hosts
  • Zenoh-based ROS 2 topic synchronization
  • Multi-vehicle coordination with namespaced topics for collision avoidance
  • Modular design enabling integration of new perception, planning, or control components
  • Scalable to larger fleets and more complex simulation scenarios

Extensions

DMAVA has already been extended to support Automated Valet Parking (AVP) as a working implementation.

In addition, several other ideas are explored as possible directions for future Multi-Agent Implementations. While not yet validated, these highlight the broader potential of the architecture for distributed autonomous driving research.

Getting Started

To get started with running the architecture, see the System Architecture page.

Developer Quick Commands

For a condensed list of frequently used commands, see the Developer Quick Commands page.

Troubleshooting

Refer to Issues to see if the issue has been addressed. Otherwise, feel free to open one.