Valet Parking Without a Valet

David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi, and George J. Pappas
Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 572-577.


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Abstract
What would it be like if we could give our robot high level commands and it would automatically execute them in a verifiably correct fashion in dynamically changing environments? This work demonstrates a method for generating continuous feedback control inputs that satisfy high-level specifications. Using a collection of continuous local feedback control policies in concert with a synthesized discrete automaton, this paper demonstrates the approach on an Ackermann-steered vehicle that satisfies the command ?rive around until you find an empty parking space, then park.?The system reacts to changing environmental conditions using only local information, while guaranteeing the correct high level behavior. The local policies consider the vehicle body shape as well as bounds on drive and steering velocities. The discrete automaton that invokes the local policies guarantees executions that satisfy the high-level specification based only on information about the current availability of the nearest parking space. This paper also demonstrates coordination of two vehicles using the approach.

Keywords
Hybrid controls, mobile robots, symbolic planning

Notes
Sponsor: ARO
Grant ID: MURI DAAD 19-02-01-0383
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics
Number of pages: 6

Text Reference
David C. Conner, Hadas Kress-Gazit, Howie Choset, Alfred Rizzi, and George J. Pappas, "Valet Parking Without a Valet," Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), October, 2007, pp. 572-577.

BibTeX Reference
@inproceedings{Conner_2007_5957,
   author = "David C Conner and Hadas Kress-Gazit and Howie Choset and Alfred Rizzi and George J. Pappas",
   title = "Valet Parking Without a Valet",
   booktitle = "Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)",
   pages = "572-577",
   publisher = "IEEE",
   address = "San Diego, CA",
   month = "October",
   year = "2007",
}