Robust Mission Execution for Autonomous Urban Driving
IAS-10: INTELLIGENT AUTONOMOUS SYSTEMS 10(2008)
摘要
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's deployment in the DARPA Urban Challenge.
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关键词
Error Recovery,Autonomous Vehicles,Urban Challenge,Tartan Racing,Boss
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