Katy Moyer

TL;DR: This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data to provide a strong platform for future research in autonomous driving in global positioning system–denied and highly dynamic environments with poor a priori information.

TL;DR: This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data to provide a strong platform for future research in autonomous driving in global positioning system–denied and highly dynamic environments with poor a priori information.

TL;DR: The architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data are described, providing a strong platform for future research in autonomous driving in GPS-denied and highly dynamic environments with poor a priori information.

TL;DR: Experimental results demonstrate all basic navigation and some basic traffic behaviors, including unoccupied autonomous driving, lane following using pure­pursuit control and the authors' local frame perception strategy, obstacle avoidance using kino­dynamic RRT path planning, U­turns, and precedence evaluation amongst other cars at intersections using their situational interpreter.