Automatic deployment of autonomous cars in a robotic urban-like environment (RULE)
Name
Lahijanian-2009-Automatic deployment of autonomous cars in a robotic urban-like environment (RULE).pdf
Size
244.14 KB
Format
Adobe PDF
Checksum (MD5)
c0c2dcb12aa7c8c19ae417e527e5ec56
Author(s)
Itani, Sara T.
Lahijanian, M.
Kloetzer, M.
Belta, Calin
Andersson, S. B.
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Lahijanian, M. et al. “Automatic deployment of autonomous cars in a Robotic Urban-Like Environment (RULE).” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2055-2060. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
We present a computational framework and experimental setup for deployment of autonomous cars in a miniature Robotic Urban-Like Environment (RULE). The specifications are given in rich, human-like language as temporal logic statements about roads, intersections, and parking spaces. We use transition systems to model the motion and sensing capabilities of the robots and the topology of the environment and use tools resembling model checking to generate robot control strategies and to verify the correctness of the solution. The experimental setup is based on Khepera III robots, which move autonomously on streets while observing traffic rules.
MIT Department
Massachusetts Institute of Technology. School of Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152605
