Departmental Papers (CIS)

Date of this Version

August 2004

Document Type

Conference Paper


Presented at the 4th International Conference on Intelligent Systems Design and Applications 2004 (ISDA 2004), Budapest, Hungary, August 26-28, 2004.


We describe an approach for high-level modeling behaviors of autonomous vehicles and an infrastructure for executing these behaviors on a particular vehicle platform. The language directly represents behavioral primitives and constraints on their composition. The control infrastructure maps these behavioral primitives on the native vehicle interface in a model-driven fashion. As a result, the user is presented with an abstract motion planning interface that hides the intricate details of the vehicle implementation.


Autonomy, model-based design, behavioral modeling



Date Posted: 12 April 2005

This document has been peer reviewed.