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Carnegie Mellon Robotics Institute

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Abstract

The DARPA Urban Challenge required robots to drive 60 miles on suburban roads while following the rules of the road in interactions with human drivers and other robots. Tartan Racing's Boss won the competition, completing the course in just over 4 hours. This paper describes the software infrastructure developed by the team to support the perception, planning, behavior generation, and other artificial intelligence components of Boss. We discuss the organizing principles of the infrastructure, as well as details of the operator interface, interprocess communications, data logging, system confiuration, process management, and task framework, with attention to the requirements that led to the design. We identify the requirements as valuable re-usable artifacts of the development process.

Notes

Sponsor: General Motors, Caterpillar, Continental, DARPA

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Tartan Racing and Urban Challenge

Number of pages: 15

Text Reference

Matthew McNaughton, Christopher R. Baker , Tugrul Galatali, Bryan Salesky, Christopher Urmson, and Jason Ziglar, "Software Infrastructure for an Autonomous Ground Vehicle," Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 12, December, 2008, pp. 491 - 505.

BibTeX Reference

@article{McNaughton_2008_6463,
   author = "Matthew McNaughton and Christopher R. {Baker } and Tugrul Galatali and Bryan Salesky and Christopher Urmson and Jason Ziglar",
   title = "Software Infrastructure for an Autonomous Ground Vehicle",
   journal = "Journal of Aerospace Computing, Information, and Communication",
   pages = "491 - 505",
   month = "December",
   year = "2008",
   volume = "5",
   number = "12",
}

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