One of the major application areas of highly automated vehicles is the problem of Automated Valet Parking (AVP). In this work, we analyze solutions and compare performances of RRT (rapidly exploring random tree) based approaches in the context of the AVP problem, which can also be applied in a more general low-speed autonomy context. We present comparison results using both simulation and real-life experiments on a representative parking use case. The results indicate better suitability of RRTx and RRV for utilization in typical AVP scenarios. The main contributions of this work lie in real-life experimental validation and comparisons of RRT approaches for use in low-speed autonomy.
Certificate Transparency (CT) is an emerging system for enabling the rapid discovery of malicious or misissued certificates. Initially standardized in 2013, CT is now finally beginning to see widespread support. Although CT provides desirable security benefits, web browsers cannot begin requiring all websites to support CT at once, due to the risk of breaking large numbers of websites. We discuss challenges for deployment, analyze the adoption of CT on the web, and measure the error rates experienced by users of the Google Chrome web browser. We find that CT has so far been widely adopted with minimal breakage and warnings. Security researchers often struggle with the tradeoff between security and user frustration: rolling out new security requirements often causes breakage. We view CT as a case study for deploying ecosystem-wide change while trying to minimize end user impact. We discuss the design properties of CT that made its success possible, as well as draw lessons from its risks and pitfalls that could be avoided in future large-scale security deployments.
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