The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Intelligentvehicles must make real-time tactical level decisions to drive in mixedtraffic environments. Since repeatable testing of different algorithms in rare and potentially dangerous situations is necessary, we have developed a custom simulator for this task. SHIVA (Simulated Highways for Intelligent Vehicle Algorithms) mirrors many aspects of the Carnegie Mellon Navlab [26, 13] system, enabling algorithms developed in simulation to be implemented on the robot with minimal modification. Realistic sensor models encourage developers to create algorithms that will work on real robots. Incremental development is facilitated through hierarchies for vehicles, sensors and reasoning objects. An integrated simulation and animation environment provides interactive graphical debugging capabilities.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Associated Project(s): Simulated Highways for Intelligent Vehicle Algorithms

Text Reference

Rahul Sukthankar, John Hancock, Dean Pomerleau, and Chuck Thorpe, "A Simulation and Design System for Tactical Driving Algorithms," Proceedings of AI, Simulation and Planning in High Autonomy Systems, 1996.

BibTeX Reference

@inproceedings{Sukthankar_1996_874,
   author = "Rahul Sukthankar and John Hancock and Dean Pomerleau and Chuck Thorpe",
   title = "A Simulation and Design System for Tactical Driving Algorithms",
   booktitle = "Proceedings of AI, Simulation and Planning in High Autonomy Systems",
   year = "1996",
}

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