Hierarchical finite state machines for autonomous mobile systems

Control Engineering Practice

Volumn 21, Issue 2, 2013, Pages 184-194

  Kurt, Arda ^a   Özgüner, Ümit ^a  

^a The Ohio State University   (United States)

Author keywords

Autonomous vehicles; Cyber physical systems; Hierarchical systems; Hybrid state systems; Urban scenarios

Indexed keywords

AUTONOMOUS MOBILE SYSTEMS; AUTONOMOUS VEHICLES; CYBER PHYSICAL SYSTEMS (CPSS); DESIGN APPROACHES; DESIGN FLEXIBILITY; DEVELOPMENT CYCLE; HIERARCHICAL FINITE STATE MACHINES; ITERATIVE DESIGN METHODOLOGY; OHIO STATE UNIVERSITY; SYSTEM ARCHITECTURES; URBAN SCENARIOS;

EMBEDDED SYSTEMS; HIERARCHICAL SYSTEMS;

ITERATIVE METHODS;

EID: 84870756191     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2012.09.020     Document Type: Article

References (21)

1. Acar L., Ozguner U. Design of structure-based hierarchies for distributed intelligent control. An introduction to intelligent and autonomous control 1993, 79-108. Kluwer Academic Publishers. P. Antsaklis, K. Passino (Eds.).
2. Biddlestone, S., Kurt, A., Vernier, M., Redmill, K., & Ozguner, U. (2009). An indoor intelligent transportation testbed for urban traffic scenarios. In 12th international IEEE conference on intelligent transportation systems, 2009. ITSC '09 (pp. 1-6).
3. Cao X.-R., Ho Y.-C. Models of discrete event dynamic systems. IEEE Control Systems Magazine 1990, 10(June (4)):69-76.
4. Chen Q., Ozguner U., Redmill K. Ohio state university at the 2004 DARPA grand challenge. Developing a completely autonomous vehicle. IEEE Intelligent Systems 2004, 19(5):8-11.
5. Chen Q., Özgüner Ü. Intelligent off-road navigation algorithms and strategies of team desert buckeyes in the DARPA grand challenge 2005. The 2005 DARPA grand challenge. Springer tracts in advanced robotics 2007, Vol. 36:183-203. Springer, Berlin, Heidelberg.
6. Dogruel M., Ozguner U. Discrete and hybrid state system modeling and analysis. Turkish Journal of Electrical Engineering and Computer 1997, 5(2):263-286.
7. Dogruel M., Ozguner U. Stability of a set of matrices with applications to automatic control. Turkish Journal of Electrical Engineering and Computer 1997, 5(2):247-262.
8. Dubins L. On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. American Journal of Mathematics 1957, 79(3):497-516.
9. Godsil C., Royle G., Godsil C. Algebraic graph theory 2001, Vol. 8. Springer, New York.
10. Kurt, A., & Ozguner, U. (2008). Hybrid state system development for autonomous vehicle control in urban scenarios. In Proceedings of the IFAC 2008 World congress (pp. 9540-9545).
11. Kurt, A., & Ozguner, U. (2011). A probabilistic model of a set of driving decisions In 2011 14th international IEEE conference on intelligent transportation systems (ITSC) (pp. 570-575). IEEE.
12. Kurt, A., Yester, J., Mochizuki, Y., & Ozguner, U. (2010). Hybrid-state driver/vehicle modelling, estimation and prediction. In 2010 13th international IEEE conference on intelligent transportation systems (ITSC) (pp. 806-811).
13. Mettler B., Dadkhah N., Kong Z. Agile autonomous guidance using spatial value functions. Control Engineering Practice 2010, 18(7):773-788.
14. Moore M., Gazi V., Passino K., Shackleford W., Proctor F. Complex control system design and implementation using the nist-rcs software library. IEEE Control Systems Magazine 1999, 19(December (6)):14-28.
15. Ozguner, U., Hatipoglu, O., & Redmill, K. (1997). Autonomy in a restricted world. In IEEE conference on intelligent transportation system, 1997. ITSC '97 (pp. 625-630), November.
16. Ozveren, C. (1989). Analysis and control of discrete event dynamic systems: A state space approach. PhD Dissertation. Massachusetts Institute of Technology.
17. Passino, K., & Ozguner, U. (1991). Modeling and analysis of hybrid systems: Examples. In Proceedings of the 1991 IEEE international symposium on intelligent control, 1991 (pp. 251-256), August.
18. Ramadge P., Wonham W. The control of discrete event systems. Proceedings of the IEEE 1989, 77(January (1)):81-98.
19. Redmill, K., Martin, J., & Ozguner, U. (2006). Sensing and sensor fusion for the 2005 Desert Buckeyes DARPA grand challenge offroad autonomous vehicle. In IEEE Intelligent vehicles symposium, 2006.
20. Redmill, K., & Ozguner, U. (1999). The Ohio State University automated highway system demonstration vehicle. SAE Transactions 1997: Journal of Passenger Cars, 1332.
21. Yoon Y., Shin J., Kim H., Park Y., Sastry S. Model-predictive active steering and obstacle avoidance for autonomous ground vehicles. Control Engineering Practice 2009, 17(7):741-750.