Platform-Independent Autonomy Modeling
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.
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<br>Presented at the 4th International Conference on Intelligent Systems Design and Applications 2004 (ISDA 2004), Budapest, Hungary, August 26-28, 2004.<br><p>