Autonomous Vehicles Intelligence Analysis
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ch.ethz.idsc.amod Build Status

This repository allows to run an autonomous mobility-on-demand scenario using the amodeus library (

Try it, orchestrate your own fleet of amod-taxis! Watch a visualization of a traffic simulation in San Francisco generated using this repository.





Getting Started

  • You may work on a Linux, Mac or Windows OS with a set of different possible IDEs. The combination Ubuntu, Java 8, Eclipse has worked well.
  • Install Java SE Development Kit (version 8, or above)
  • Install Apache Maven
  • Install IDE (ideally Eclipse Oxygen or Photon)
  • Install GLPK and GLPK for Java (Ensure you install compatible versions, e.g. here)
    • Prerequisites are: GCC, Libtool, Swig and Subversion
  • Install Git and connect to GitHub with SSH

The code format of the amod repository is specified in the amodeus profile that you can import from amodeus-code-style.xml.

Installation guidelines for amod repository

  1. Clone amod
  2. Import to eclipse as existing maven project (Package Explorer->Import) using the pom.xml in the top folder of this repository.
  3. Set up Run Configurations for: (ScenarioPreparer; ScenarioServer; ScenarioViewer), chose the Working Directory to be the top Simulation Folder directory. You can get a sample simulation scenario at
  4. Adjust the simulation settings in the 3 config files: av.xml for av fleet values (e.g. number vehicles), for AMoDeus settings (e.g. max number of people) and config.xml for Matsim settings (e.g. output directory).
  5. Add JAVA VM arguments if necessary, e.g., -Xmx10000m to run with 10 GB of RAM and -Dmatsim.preferLocalDtds=true to prefer the local Dtds.
  6. Run the ScenarioPreparer as a Java application: wait until termination
  7. Run the ScenarioServer as a Java application: the simulation should run
  8. Run the ScenarioViewer as a Java application: the visualization of the scenario should open in a separate window





San Francisco

San Francisco

San Francisco


Run docker-compose up to run the San Fransisco simulation. This will run two services, aido-host and aido-guest, which will communicate over port 9382.

The protocol is specified here.