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Robust Mission Execution for Autonomous Urban Driving
Christopher R. Baker, David I. Ferguson, John M. Dolan
155 - 163
10.3233/978-1-58603-887-8-155
Intelligent Autonomous Systems 10
Abstract

We describe a multi-modal software system for executing navigation missions in an urban environment, focusing on the robust treatment of anomalous situations such as blocked roads, stalled vehicles and tight maneuvering. Various recovery mechanisms are described relative to the nominal mode of operation, and results are discussed from the system's deployment in the DARPA Urban Challenge.

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