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Situational reasoning for road driving in an urban environment

Du Toit, Noel E. and Wongpiromsarn, Tichakorn and Burdick, Joel W. and Murray, Richard M. (2008) Situational reasoning for road driving in an urban environment. In: Intelligent vehicle control systems : proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008. INSTICC Press , pp. 30-39. ISBN 978-989-8111-34-0 . https://resolver.caltech.edu/CaltechAUTHORS:20100715-135111003

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Abstract

Robot navigation in urban environments requires situational reasoning. Given the complexity of the environment and the behavior specified by traffic rules, it is necessary to recognize the current situation to impose the correct traffic rules. In an attempt to manage the complexity of the situational reasoning subsystem, this paper describes a finite state machine model to govern the situational reasoning process. The logic state machine and its interaction with the planning system are discussed. The approach was implemented on Alice, Team Caltech’s entry into the 2007 DARPA Urban Challenge. Results from the qualifying rounds are discussed. The approach is validated and the shortcomings of the implementation are identified.


Item Type:Book Section
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2008 INSTICC Press. The work presented here is the culmination of many members of Team Caltech, especially: Vanessa Carson, Sven Gowal, Andrew Howard, Christian Looman. This work was supported in part by the Defense Advanced Research Projects Agency (DARPA) under contract HR0011-06-C-0146, the California Institute of Technology, Big Dog Ventures, Northrop Grumman Corporation, Mohr Davidow Ventures, and Applanix Inc.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)HR0011-06-C-0146
CaltechUNSPECIFIED
Big Dog VenturesUNSPECIFIED
Northrop Grumman CorporationUNSPECIFIED
Mohr Davidow VenturesUNSPECIFIED
Applanix Inc.UNSPECIFIED
Record Number:CaltechAUTHORS:20100715-135111003
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20100715-135111003
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19088
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:04 Aug 2010 18:22
Last Modified:03 Oct 2019 01:52

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