Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
Alice: An information-rich autonomous vehicle for high-speed desert navigation: Field Reports
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Planning Algorithms
Team Cornell's Skynet: Robust perception and planning in an urban environment
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part II
The 2005 DARPA Grand Challenge: The Great Robot Race
The 2005 DARPA Grand Challenge: The Great Robot Race
Theta*: any-angle path planning on grids
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Self-supervised aerial image analysis for extracting parking lot structure
IJCAI'09 Proceedings of the 21st international jont conference on Artifical intelligence
Autonomous driving in semi-structured environments: mapping and planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Smooth path and speed planning for an automated public transport vehicle
Robotics and Autonomous Systems
CarSpeak: a content-centric network for autonomous driving
Proceedings of the ACM SIGCOMM 2012 conference on Applications, technologies, architectures, and protocols for computer communication
CarSpeak: a content-centric network for autonomous driving
ACM SIGCOMM Computer Communication Review - Special october issue SIGCOMM '12
Performance analysis of path planners for car-like vehicles toward automatic parking control
Intelligent Service Robotics
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We describe a practical path-planning algorithm for an autonomous vehicle operating in an unknown semi-structured (or unstructured) environment, where obstacles are detected online by the robotâ聙聶s sensors. This work was motivated by and experimentally validated in the 2007 DARPA Urban Challenge, where robotic vehicles had to autonomously navigate parking lots. The core of our approach to path planning consists of two phases. The first phase uses a variant of A* search (applied to the 3D kinematic state space of the vehicle) to obtain a kinematically feasible trajectory. The second phase then improves the quality of the solution via numeric non-linear optimization, leading to a local (and frequently global) optimum. Further, we extend our algorithm to use prior topological knowledge of the environment to guide path planning, leading to faster search and final trajectories better suited to the structure of the environment. We present experimental results from the DARPA Urban Challenge, where our robot demonstrated near-flawless performance in complex general path-planning tasks such as navigating parking lots and executing U-turns on blocked roads. We also present results on autonomous navigation of real parking lots. In those latter tasks, which are significantly more complex than the ones in the DARPA Urban Challenge, the time of a full replanning cycle of our planner is in the range of 50â聙聰300 ms.