Traffic Interaction In The Urban Challenge: Putting Boss On Its Best Behavior

We describe 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 software system that controls "Boss", Tartan Racing's winning entry in the competition. Design criteria are presented, followed by the application of software design principles to derive an architecture well suited to the rigors of developing complex robotic systems. Combined with a discussion of robust behavioral algorithms, the design's effectiveness is highlighted in its ability to manage complex autonomous driving behaviors while remaining adaptable to the system's evolving capabilities.