RI Seminar

Abstract The DARPA Urban Grand Challenge was a 60 mile race through an urban roadway where vehicles had to follow the same rules of the road that human drivers are expected to respect. This challenge differed from the 2 previous Grand Challenges in that the robots not only had to navigate the course, but they [...]

Abstract We present the motion planning framework for Boss, Carnegie Mellon's winning entry in the Urban Grand Challenge. Urban environments present a number of motion planning challenges, including high-speed operation, complex inter-vehicle interaction, parking in large unstructured lots, and highly constrained maneuvers. Our approach combines a local planner that utilizes a model-based trajectory generation algorithm [...]