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Carnegie Mellon Robotics Institute

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Abstract

We describe a multi-modal software system for executing navigation missions in an urban environment, focusing on the robust treatment of anomalous situations such as blocked roads, stalled vehicles and tight maneuvering. Various recovery mechanisms are described relative to the nominal mode of operation, and results are discussed from the system?? deployment in the DARPA Urban Challenge.

Keywords

urban challenge, autonomous driving, behaviors, error recovery

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Urban Challenge

Number of pages: 9

Text Reference

Christopher R. Baker , David Ferguson, and John M. Dolan, "Robust Mission Execution for Autonomous Urban Driving," 10th International Conference on Intelligent Autonomous Systems (IAS 2008), July, 2008, pp. 155-163.

BibTeX Reference

@inproceedings{Baker__2008_6208,
   author = "Christopher R. {Baker } and David Ferguson and John M Dolan",
   title = "Robust Mission Execution for Autonomous Urban Driving",
   booktitle = "10th International Conference on Intelligent Autonomous Systems (IAS 2008)",
   pages = "155-163",
   month = "July",
   year = "2008",
}

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