Distributed Mission and Contingency Management for the DARPA Urban Challenge

Tichakorn Wongpiromsarn, Richard M. Murray

Abstract

We present an approach that allows mission and contingency management to be achieved in a distributed and dynamic manner without any central control over multiple software modules. This approach comprises two key elements: a mission management subsystem and a planning subsystem based on a Canonical Software Architecture (CSA). The mission management subsystem works in conjunction with the planning subsystem to dynamically replan in reaction to contingencies. The CSA provides for consistency of the states of all the software modules in the planning subsystem. System faults are identified and replanning strategies are performed distributedly in the planning and the mission management subsystems through the CSA. The approach has been implemented and tested on Alice, an autonomous vehicle developed by the California Institute of Technology for the 2007 DARPA Urban Challenge.

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Paper Citation


in Harvard Style

Wongpiromsarn T. and M. Murray R. (2008). Distributed Mission and Contingency Management for the DARPA Urban Challenge . In Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008) ISBN 978-989-8111-34-0, pages 19-29. DOI: 10.5220/0001507600190029


in Bibtex Style

@conference{ivcs08,
author={Tichakorn Wongpiromsarn and Richard M. Murray},
title={Distributed Mission and Contingency Management for the DARPA Urban Challenge},
booktitle={Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008)},
year={2008},
pages={19-29},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001507600190029},
isbn={978-989-8111-34-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems - Volume 1: IVCS, (ICINCO 2008)
TI - Distributed Mission and Contingency Management for the DARPA Urban Challenge
SN - 978-989-8111-34-0
AU - Wongpiromsarn T.
AU - M. Murray R.
PY - 2008
SP - 19
EP - 29
DO - 10.5220/0001507600190029