July 30, 2004
      
                  
        
  Author(s)
  Craig I. Schlenoff,   Stephen B. Balakirsky,   Anthony J. Barbera,   Christopher J. Scrapper Jr,   Jerome G. Ajot,   Eric  Hui,   M  Paredes
 
       
            
    
    
        For an autonomous vehicle to be able to navigate a road network, it must be aware of and must respond appropriately to any object it encounters. This includes other vehicles, pedestrians, debris, construction, accidents, emergency vehicles, and it also