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Open AccessJournal ArticleDOI

Mobile Robot Navigation: The CMU System

Yoshimasa Goto, +1 more
- 01 Jan 1987 - 
- Vol. 2, Iss: 4, pp 44-54
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TLDR
The current status of autonomous land vehicle (ALV) research at F Carnegie Mellon University’s Robotics Institute is described, with an autonomous mobile robot system capable of operating in outdoor environments and a navigation system working at two test sites and on two experimental vehicles.
Abstract: 
ocusing primarily on system architecture, this article describes the current status of autonomous land vehicle (ALV) research at F Carnegie Mellon University’s Robotics Institute. We will (1) discuss issues concerning outdoor navigation; (2) describe our system’s perception, planning, and control components that address these issues; (3) examine Codger, the software system that integrates these components into a single system, synchronizing the dataflow between them (thereby rnaximizing parallelism); and (4) present the results of our experiments, problems uncovered in the process, and plans for addressing those problems. Carnegie Mellon’s ALV group has created an autonomous mobile robot system capable of operating in outdoor environments. Using two sensors-a color camera and a laser range finder-our system can drive a robot vehicle continuously on a network of sidewalks, up a bicycle slope, and over a curved road through an area populated with trees. The complexity of real-world domains and requirements for continuous and real-time motion require that such robot systems provide architectural support for multiple sensors and parallel processing-capabilities not found in simpler robot systems. At CMU, we are studying mobile robot system architecture and have developed a navigation system working at two test sites and on two experimental vehicles.

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Book ChapterDOI

Optimal and efficient path planning for partially-known environments

Anthony Stentz
TL;DR: A new algorithm, D*, is introduced, capable of planning paths in unknown, partially known, and changing environments in an efficient, optimal, and complete manner.

Optimal and Efficient Path Planning for Unknown and Dynamic Environments

Anthony Stentz
TL;DR: The task of planning trajectories for a mobile robot has received considerable attention in the research literature, but less attention has been paid to the problem of unknown or partially-known environments.
Proceedings ArticleDOI

A complete navigation system for goal acquisition in unknown environments

Anthony Stentz, +1 more
TL;DR: The authors have developed a complete system that integrates local and global navigation that was tested on a real robot and successfully drove it 1.4 kilometers to find a goal given no a priori map of the environment.
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Autonomous Vehicle Control at the Limits of Handling

Krisada Kritayakirana, +1 more
- 01 Jan 2012 - 
TL;DR: In this paper, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits, using a bicycle model and a g-g diagram to mimic racecar drivers' internal vehicle model.
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Architectural foundations for real-time performance in intelligent agents

Barbara Hayes Roth
- 01 May 1990 - 
TL;DR: Key features include: parallel perception, action, and cognition processes, limitedcapacity I/O buffers with best-first retrieval and worst-first overflow, dynamic control planning, dynamic focus of attention, and a satisficing execution cycle that allows an agent to trade quality for speed of response under dynamic goals, resource limitations, and performance constraints.
References
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Journal ArticleDOI

An algorithm for planning collision-free paths among polyhedral obstacles

Tomás Lozano-Pérez, +1 more
- 01 Oct 1979 - 
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Journal ArticleDOI

Spatial Planning: A Configuration Space Approach

Lozano-Perez
- 01 Feb 1983 - 
TL;DR: In this article, the authors propose an approach based on characterizing the position and orientation of an object as a single point in a configuration space, in which each coordinate represents a degree of freedom in the position or orientation of the object.
Book

Spatial planning: a configuration space approach

Tomás Lozano-Pérez
TL;DR: Algorithms for computing constraints on the position of an object due to the presence of ther objects, which arises in applications that require choosing how to arrange or how to move objects without collisions are presented.
Book

Integration, coordination, and control of multi-sensor robot systems

Hugh Durrant-Whyte
TL;DR: A structure for Multi-Sensor Systems and The Team Decision Problem, with a focus on the Multi-Bayesian Team, and Implementation and Results.
Proceedings Article

First results in robot road-following

Richard S. Wallace, +5 more
TL;DR: The new Carnegie Mellon Autonomous I and Vehicle group has produced the first demonstrations of road following robots, and the vision system of the CMU ALV is described, including a simple and stable control scheme for visual servoing.
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Q1. What contributions have the authors mentioned in the paper "Mobile robot navigation: the cmu system" ?

Ocusing primarily on system architecture, this article describes the current status of autonomous land vehicle ( ALV ) research at F Carnegie Mellon University ’ s Robotics Institute. The authors will ( 1 ) discuss issues concerning outdoor navigation ; ( 2 ) describe their system ’ s perception, planning, and control components that address these issues ; ( 3 ) examine Codger, the software system that integrates these components into a single system, synchronizing the dataflow between them ( thereby rnaximizing parallelism ) ; and ( 4 ) present the results of their experiments, problems uncovered in the process, and plans for addressing those problems. The complexity of real-world domains and requirements for continuous and real-time motion require that such robot systems provide architectural support for multiple sensors and parallel processing-capabilities not found in simpler robot systems. At CMU, the authors are studying mobile robot system architecture and have developed a navigation system working at two test sites and on two experimental vehicles.