Paper Citation Record · LEDGER

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo

As of 14 August 2026, this Paper Citation Record lists 41 of 41 outbound references and 4 inbound Pith citation observations for arXiv:2501.18942.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2501.18942 v1

Coverage vector

measured 41 of 41 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-09T21:54:43.959611Z

measured 45 of 45 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-14T06:32:32.682623+00:00

measured 4 of 4 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-14T10:46:41.763422Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-03T20:38:55.171577Z

Reference resolution

41 of 41 outbound references displayed

verified exact1
verified fuzzy36
unresolved3
parse uncertain0
malformed identifier1
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation f99a3c8d-23da-4461-b032-a6cac0ce54b0 · outbound

This paper cites Reliability and security analysis of artifi- cial intelligence-based self-driving technologies in saudi arabia: A case study of openpilot.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Reliability and security analysis of artifi- cial intelligence-based self-driving technologies in saudi arabia: A case study of openpilot

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.845376Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 090124ee-1e83-4b15-901c-7c65fb555745 · outbound

This paper cites Analysis of robotic platforms: Data transfer performance evaluation.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Analysis of robotic platforms: Data transfer performance evaluation

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.826176Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b086b8b2-6456-4dbf-a97f-6b5aa6aa8f57 · outbound

This paper cites Apollo 10.0 autonomous driving open platform.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Apollo 10.0 autonomous driving open platform

Reference 3

Resolution: malformed identifier; raw_fallback, observed 2026-08-09T21:54:44.787044Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5dd709eb-4814-47d5-9c84-687659a8d76f · outbound

This paper cites Apollo github.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Apollo github

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.762458Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5ab67640-e8d2-4104-a070-b3b8b3f25b9b · outbound

This paper cites Biber and W.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Biber and W

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.744438Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 678c1b08-d905-4a52-893e-4d8c8256c3a5 · outbound

This paper cites Systematic analysis of dds implementations.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Systematic analysis of dds implementations

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.705124Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 572c29c3-4a5f-4a6a-8f59-69d320dbb7b9 · outbound

This paper cites Research on an open-source software platform for autonomous driving systems.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Research on an open-source software platform for autonomous driving systems

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.681944Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3d8ab0a1-86cd-451d-91a9-d6b0ecb5061d · outbound

This paper cites Openpilot.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Openpilot

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.663285Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation dc09b747-9960-48e7-9665-e52097e25123 · outbound

This paper cites Eb robinos.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Eb robinos

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.644228Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7df8f8eb-7cf5-4efe-a403-ab7bedc2c779 · outbound

This paper cites Fast dds documentation.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Fast dds documentation

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.625449Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 4b833b71-be51-4d5c-9f75-ae9bf7ba9e9f · outbound

This paper cites Baidu Apollo EM Motion Planner.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Baidu Apollo EM Motion Planner

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-09T21:54:43.813494Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e49dc9f9-1ac4-460e-a3cb-ab8b50836d97 · outbound

This paper cites Application of baidu apollo open platform in a course of control simulation experiments.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Application of baidu apollo open platform in a course of control simulation experiments

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.606422Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e917aba4-7544-4f0f-b9a3-ceaf37eff9d0 · outbound

This paper cites A comprehensive study of autonomous vehicle bugs.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo A comprehensive study of autonomous vehicle bugs

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.589669Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 4217098b-8924-4634-8b90-b174132672c1 · outbound

This paper cites YOLOX: Exceeding YOLO Series in 2021.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo YOLOX: Exceeding YOLO Series in 2021

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-09T21:54:43.829523Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c65dd43d-6aea-4e25-819c-8b6771d61f3b · outbound

This paper cites Autorally: An open platform for aggressive autonomous driving.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autorally: An open platform for aggressive autonomous driving

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.572740Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7c8c6515-0321-4740-a9d2-41408747a1ac · outbound

This paper cites Autoware documentation.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autoware documentation

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.556426Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation c1a250a6-5030-455b-9192-55f9e14dd04c · outbound

This paper cites Autoware github.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autoware github

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.539179Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation c5f60f7d-03c5-4224-8305-bf2603047829 · outbound

This paper cites Autoware universe documentation.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autoware universe documentation

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.522484Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e1e034b9-528f-4dc8-89b3-182377dd7a89 · outbound

This paper cites Autoware universe github.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autoware universe github

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.506630Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 718f84c0-a1e1-457c-b32a-858e7befd5ff · outbound

This paper cites An open approach to au- tonomous vehicles.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo An open approach to au- tonomous vehicles

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.489833Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 84061374-5267-455c-b879-1ea4d9045698 · outbound

This paper cites Autoware on board: Enabling autonomous vehicles with embedded systems.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Autoware on board: Enabling autonomous vehicles with embedded systems

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.473791Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5a34f009-f8d2-4b65-8b8e-cb3e35b1be74 · outbound

This paper cites Pointpillars: Fast encoders for object detection from point clouds.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Pointpillars: Fast encoders for object detection from point clouds

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.457758Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 93dce279-3536-47f3-8ac3-9cc4cd726b61 · outbound

This paper cites Memory-centric communication mechanism for real-time autonomous navigation applications.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Memory-centric communication mechanism for real-time autonomous navigation applications

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.441801Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation f1d44d39-0c33-4826-aabc-6aeb7ae4e836 · outbound

This paper cites A robotic communication middleware combining high performance and high reliability.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo A robotic communication middleware combining high performance and high reliability

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.424493Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8a038fce-4b68-4cd6-a4ba-91c89504cbce · outbound

This paper cites An iterative image registration technique with an application to stereo vision.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo An iterative image registration technique with an application to stereo vision

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.405489Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3e746d68-67fb-43dd-bcb9-0f7dcb731daa · outbound

This paper cites Exploring the performance of ros2.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Exploring the performance of ros2

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.382416Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 11842334-ae4d-4e8b-be92-099dfe49a47e · outbound

This paper cites Driveworks sdk.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Driveworks sdk

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.361536Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 57dabb3a-486c-4893-a020-48c38aca5052 · outbound

This paper cites Frustum pointnets for 3d object detection from rgb-d data.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Frustum pointnets for 3d object detection from rgb-d data

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.342294Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 744ec111-35e7-4940-93dc-8004493ddd90 · outbound

This paper cites Performance of open autonomous vehicle platforms: Autoware and apollo.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Performance of open autonomous vehicle platforms: Autoware and apollo

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.323613Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3a784430-0b01-4b4b-9908-f18e11862652 · outbound

This paper cites Kalman and extended kalman filters: Con- cept, derivation and properties.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Kalman and extended kalman filters: Con- cept, derivation and properties

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.300966Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 9012b10f-4bf4-40e2-be35-8baa1081810c · outbound

This paper cites Quaternion kinematics for the error-state Kalman filter.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Quaternion kinematics for the error-state Kalman filter

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-09T21:54:43.914458Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5b27f7ec-7cac-4262-83a9-19defcf8fbe1 · outbound

This paper cites Robocar: A rapidly deployable open-source platform for autonomous driving research, 2024.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Robocar: A rapidly deployable open-source platform for autonomous driving research, 2024

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.276665Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 13f41d7e-8781-4ac0-a7a1-96ade63c06ee · outbound

This paper cites Probabilistic robotics.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Probabilistic robotics

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.251197Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 74544eda-ec2a-4709-8c74-503355661e2c · outbound

This paper cites Platform ecosystems: Aligning architecture, gover- nance, and strategy.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Platform ecosystems: Aligning architecture, gover- nance, and strategy

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.233095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 9d40dbda-8d4d-4f85-b16d-71519276f442 · outbound

This paper cites Research commentary—platform evolution: Coevolution of platform architec- ture, governance, and environmental dynamics.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Research commentary—platform evolution: Coevolution of platform architec- ture, governance, and environmental dynamics

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.211123Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5f4b4718-8802-4d69-9c9d-f1e13c70de44 · outbound

This paper cites Robust and precise vehicle localization based on multi-sensor fusion in diverse city scenes.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Robust and precise vehicle localization based on multi-sensor fusion in diverse city scenes

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.184592Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 60aa3d9c-6982-48b6-bf7a-a680a65a8832 · outbound

This paper cites Moving Forward: A Review of Autonomous Driving Software and Hardware Systems.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Moving Forward: A Review of Autonomous Driving Software and Hardware Systems

Reference 37

Resolution: verified exact; local_arxiv, observed 2026-08-09T21:54:44.026354Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation f14e12e9-54da-4e27-a69c-526ba55234bb · outbound

This paper cites Open source and standards: The role of open source in the dialogue between research and standardization.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Open source and standards: The role of open source in the dialogue between research and standardization

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.163129Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e7e705fb-b17a-43c2-931d-b9f420d71eec · outbound

This paper cites Center-based 3d object detection and tracking.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Center-based 3d object detection and tracking

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.144129Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 4c41addc-080a-4032-b113-5f4ccfdc38c3 · outbound

This paper cites Efficient l-shape fitting for vehicle detection using laser scanners.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo Efficient l-shape fitting for vehicle detection using laser scanners

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.125397Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 73b3da05-1ed2-4fdf-ae9e-3b26adca7ad5 · outbound

This paper cites No.03CH37453), volume 3, pages 2743–2748 vol.3, 2003.

Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo No.03CH37453), volume 3, pages 2743–2748 vol.3, 2003

Reference 2003

Resolution: verified fuzzy; raw_fallback, observed 2026-08-09T21:54:44.724365Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Pith citing papers

Observation 680cc18b-d1b6-4325-a9a2-eaf947e05ba3 · inbound

An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack cites this paper.

An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo

Reference 18

Resolution: metadata mismatch; arxiv_id, observed 2026-05-13T19:03:08.411073Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b3b91439-b942-4770-aa96-e11103947536 · inbound

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy cites this paper.

The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo

Reference 264

Resolution: verified exact; arxiv_id, observed 2026-05-14T19:42:53.458421Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 99f8ffca-c108-4920-b05e-f4f7235d669e · inbound

The Three Dimensions of ROS 2 Middleware cites this paper.

The Three Dimensions of ROS 2 Middleware Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo

Reference 101

Resolution: metadata mismatch; arxiv_id, observed 2026-07-03T20:38:55.173027Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation d14ff925-3500-4c28-8655-2b1f9b5ffe13 · inbound

LLM-Assisted Dynamic Threat Analysis for Attacker-Reachable Software Weaknesses in Autonomous Vehicles cites this paper.

LLM-Assisted Dynamic Threat Analysis for Attacker-Reachable Software Weaknesses in Autonomous Vehicles Open-Source Autonomous Driving Software Platforms: Comparison of Autoware and Apollo

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-14T10:46:41.763422Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.