The Robotics Institute

Carnegie Mellon Robotics Institute

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 present a case study in the design of an autonomous robotic software subsystem for managing mission execution and discrete traffic interaction in the 2007 DARPA Urban Challenge. Its role is reviewed in the context of the overall software system that controls “Boss”, Tartan Racing’s winning entry in the competition. Design criteria are presented, followed by the application of design principles to derive an architecture well suited to the rigors of developing complex robotic software. The design’s effectiveness is highlighted through a discussion of its ability to meet the subsystem’s requirements while remaining adaptable to the ever-changing needs and capabilities of the surrounding system.

Keywords

Software Architecture, Tartan Racing, Boss, Robot Behaviors, Urban Challenge

Notes

Number of pages: 10

Text Reference

Christopher R. Baker and John M. Dolan, "A Case Study in Behavioral Subsystem Engineering for the Urban Challenge," IEEE/RAS Robotics and Automation Magazine (RAM), Special Issue on Software Engineering in Robotics

BibTeX Reference

@{Baker__2009_6899,
   author = "Christopher R. {Baker } and John M Dolan",
   title = "A Case Study in Behavioral Subsystem Engineering for the Urban Challenge",
   booktitle = "IEEE/RAS Robotics and Automation Magazine (RAM), Special Issue on Software Engineering in Robotics",
   pages = "78-87",
   month = "March",
   year = "2009",
   volume = "16",
   number = "1",
}

The Robotics Institute

Menu