ICRA'09 Paper Abstract


Paper FrB4.2

Lahijanian, Morteza (Boston University), Kloetzer, Marius (Boston University), Itani, Sara (Massachusetts Institute of Technology), Belta, Calin (Boston University), Andersson, Sean (Boston University)

Automatic Deployment of Autonomous Cars in a Robotic Urban-Like Environment (RULE)

Scheduled for presentation during the Regular Sessions "Motion and Path Planning - II" (FrB4), Friday, May 15, 2009, 10:50−11:10, Room: 402

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Motion and Path Planning, Autonomous Agents


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, natural language as temporal and 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 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.



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