Robust Mission Execution for Autonomous Urban Driving - Robotics Institute Carnegie Mellon University

Robust Mission Execution for Autonomous Urban Driving

Conference Paper, Proceedings of 10th International Conference on Intelligent Autonomous Systems (IAS '08), pp. 155 - 163, July, 2008

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.

BibTeX

@conference{Baker-2008-10046,
author = {Christopher R. Baker and David Ferguson and John M. Dolan},
title = {Robust Mission Execution for Autonomous Urban Driving},
booktitle = {Proceedings of 10th International Conference on Intelligent Autonomous Systems (IAS '08)},
year = {2008},
month = {July},
pages = {155 - 163},
keywords = {urban challenge, autonomous driving, behaviors, error recovery},
}