2026-09-20T21:32:46Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/129207 2025-10-20 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

application/pdf en text 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 Sim-on-wheels: Physical world in the loop simulation for self-driving Chandaka, Bhargav 2025-04-16 Wang, Shenlong Safety Robot sensing systems Real-time systems Autonomous agents Simulation Animation Autonomous vehicles eng 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/. 2025-05 Thesis https://hdl.handle.net/2142/129207 Copyright 2025 Bhargav Chandaka Siebel School Comp & Data Sci Computer Science University of Illinois Urbana-Champaign M.S. Thesis