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Planning for On-Road Driving Through Incrementally Created Graphs

Published

Author(s)

Stephen B. Balakirsky, Christopher J. Scrapper Jr

Abstract

A general-purpose hierarchical planning framework that allows for cost-optimal, logic-constrained plans will be presented. This framework will be applied to planning an on-road path for an autonomous vehicle traveling amongst moving and stationary objects. Through this application, the ability to implement both hard and soft constraints, as well as cope with dynamic environments and user objectives will be demonstrated.
Proceedings Title
Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems
Conference Dates
October 3-6, 2004
Conference Location
Washington, D.C, MD, USA
Conference Title
7th International IEEE Conference on Intelligent Transportation Systems

Keywords

autonomous systems, behavior gen, Mobility, on-road driving, Planning, planning, Robotics & Intelligent Systems

Citation

Balakirsky, S. and Scrapper Jr, C. (2004), Planning for On-Road Driving Through Incrementally Created Graphs, Proceedings of the 7th International IEEE Conference on Intelligent Transportation Systems, Washington, D.C, MD, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=822553 (Accessed February 27, 2024)
Created October 5, 2004, Updated October 12, 2021