Motion planning in urban environments: Part II

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2008, Pages 1070-1076

  Ferguson, Dave ^a   Howard, Thomas M ^b   Likhachev, Maxim ^c  

^a INTEL RESEARCH   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

^c UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTONOMOUS VEHICLES; HIGH-SPEED OPERATION; LONG RANGE; PARKING LOTS; TRAJECTORY GENERATION ALGORITHMS; ULTRA-RELIABILITY; URBAN ENVIRONMENTS; VEHICLE INTERACTIONS;

COMPUTATION THEORY; INTELLIGENT ROBOTS; MOTION PLANNING; ROADS AND STREETS;

NAVIGATION;

EID: 69549126260     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2008.4651124     Document Type: Conference Paper

References (21)

1. M. Likhachev, D. Ferguson, G. Gordon, A. Stentz, and S. Thrun, "Anytime Dynamic A*: An Anytime, Replanning Algorithm," in Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2005.
2. J. Pearl, Heuristics: Intelligent Search Strategies for Computer Problem Solving. Addison-Wesley, 1984.
3. R. Knepper and A. Kelly, "High performance state lattice planning using heuristic look-up tables," in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2006.
4. M. Likhachev and D. Ferguson, "Planning Dynamically Feasible Long Range Maneuvers for Autonomous Vehicles," in Proceedings of Robotics: Science and Systems (RSS), 2008.
5. C. Baker, D. Ferguson, and J. Dolan, "Robust Mission Execution for Autonomous Urban Driving," 2008, submitted to International Conference on Intelligent Autonomous Systems (IAS).
6. DARPA, "DARPA Urban Challenge Official Results," 2008, posted at http://www.darpa.mil/GRANDCHALLENGE/mediafaq.asp.
7. C. Thorpe, M. Hebert, T. Kanade, and S. Shafer, "Vision and navigation for the Carnegie-Mellon Navlab," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.10, no.3, pp. 362-373, 1988.
8. J. Baber, J. Kolodko, T. Noel, M. Parent, and L. Vlacic, "Cooperative autonomous driving: intelligent vehicles sharing city roads," IEEE Robotics and Automation Magazine, vol.12, no.1, pp. 44-49, 2005. (Pubitemid 40583691)
9. E. Dickmanns, R. Behringer, C. Brudigam, D. Dickmanns, F. Thomanek, and V. Holt, "All-transputer visual autobahn-autopilot/copilot," in Proceedings of the 4th Int. Conference on Computer Vision ICCV, 1993, pp. 608-615.
10. B. Ulmer, "VITA - an autonomous road vehicle (arv) for collision avoidance in traffic," in Proceedings of Intelligent Vehicle Symposium, 1992, pp. 36-41.
11. A. Hattori, A. Hosaka, M. Taniguchi, and E. Nakano, "Driving control system for an autonomous vehicle using multiple observed point information," in Proceedings of Intelligent Vehicle Symposium, 1992.
12. D. Pomerleau, "Efficient training of artificial neural networks for autonomous navigation," Neural Computation, vol.3, no.1, pp. 88-97, 1991.
13. S. Thrun et al., "Stanley: The robot that won the DARPA Grand Challenge," Journal of Field Robotics, vol.23, no.9, pp. 661-692, August 2006.
14. R. Simmons, "The curvature velocity method for local obstacle avoidance," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1996.
15. D. Fox, W. Burgard, and S. Thrun, "The dynamic window approach to collision avoidance." IEEE Robotics and Automation, vol.4, no.1, 1997.
16. O. Brock and O. Khatib, "High-speed navigation using the global dynamic window approach," in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 1999.
17. A. Kelly, "An intelligent predictive control approach to the high speed cross country autonomous navigation problem," Ph.D. dissertation, Carnegie Mellon University, 1995.
18. T. Howard and A. Kelly, "Optimal rough terrain trajectory generation for wheeled mobile robots," International Journal of Robotics Research, vol.26, no.2, pp. 141-166, 2007. (Pubitemid 46167166)
19. C. Stachniss and W. Burgard, "An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environments," in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2002.
20. G. Song and N. Amato, "Randomized motion planning for car-like robots with C-PRM," in Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2001.
21. M. Pivtoraiko and A. Kelly, "Constrained motion planning in discrete state spaces," in Proceedings of the International Conference on Advanced Robotics (FSR), 2005.