A Modular, Hybrid System Architecture for Autonomous, Urban Driving | Zendy

D. Wooden | Zendy; Matt Powers | Zendy; Magnus Egerstedt | Zendy; Henrik I. Christensen | Zendy; Tucker Balch | Zendy

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A Modular, Hybrid System Architecture for Autonomous, Urban Driving

Author(s) -

D. Wooden,

Matt Powers,

Magnus Egerstedt,

Henrik I. Christensen,

Tucker Balch

Publication year - 2007

Publication title -

journal of aerospace computing information and communication

Language(s) - English

Resource type - Journals

eISSN - 1940-3151

pISSN - 1542-9423

DOI - 10.2514/1.33349

Subject(s) - modular design , architecture , automaton , hybrid system , computer science , drone , systems architecture , systems engineering , computer architecture , embedded system , engineering , control engineering , artificial intelligence , geography , operating system , archaeology , machine learning , biology , genetics

Digital Object Identifier: 10.2514/1.33349Copyright © 2007 by the American Institute of Aeronautics and Astronautics, Inc.Autonomous navigation in urban environments inevitably leads to having to switch between var- ious, sometimes con icting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular control architecture for this purpose and this paper describes the operation and de nition of this architecture through so-called nested hybrid automata. We show how to map the requirements associated with the DARPA Urban Grand Challenge onto these nested automata and illustrate their operation through a number of experimental results

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