A Hardware-Partitioned micro-ROS Mini-Vehicle for Operator-Supervised Neural Driving

We present a low-cost miniature Ackermann vehicle for embedded neural-driving research, organized as a hardware-partitioned perceive-decide-act agent: an ESP32 camera node streams frames over Wi-Fi to a host computer, where neural inference and state estimation run, while an ESP32-S3 chassis controller executes safety-critical actuation in a 100 Hz per-wheel proportional-integral-derivative (PID) loop beneath a micro-ROS client. The partition isolates real-time control and safety on the vehicle while learning-based components run off-board, supervised by an operator from a gamepad.

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