Robust Mission Execution for Autonomous Urban Driving

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


Download
  • Adobe portable document format (pdf) (236KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}