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Knowledge representation and planning for on-road driving



Stephen B. Balakirsky, Christopher J. Scrapper Jr


This paper presents a cost-based adaptive planning agent and knowledge layers that is operating at one level of a deliberative hierarchical planning system for autonomous road driving. At this level, the planning agent is responsible for developing fundamental driving maneuvers that allow a vehicle to travel safely amongst moving and stationary objects. This is facilitated through the application of knowledge to the graph creation process and the use of dynamic cost function within the incrementally created planning graph. This cost function varies to comply with particular road, regional, or event driven situations, and when coupled with the incremental graph expansion allows for the agent to implement hard and soft system constraints. Further discussion will be provided that details on of the expert systems that is implemented to provide the planning system with this knowledge in real-time.
Journal of Robotics and Autonomous Systems


autonomous road driving, knowledge representation, Mobility, Planning, planning, RCS, Robotics & Intelligent Systems


Balakirsky, S. and Scrapper Jr, C. (2004), Knowledge representation and planning for on-road driving, Journal of Robotics and Autonomous Systems, [online], (Accessed April 13, 2024)
Created July 15, 2004, Updated October 12, 2021