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Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three-layer planning system combines mission, behav-ioral, and motion planning to drive in urban environments. The mission planning layer considers(More)
We present an interpolation-based planning and replanning algorithm for generating low-cost paths through uniform and nonuniform resolution grids. Most grid-based path planners use discrete state transitions that artificially constrain an agent's motion to a small set of possible headings ͑e.g., 0, ␲/4 , ␲/2, etc.͒. As a result, even " optimal " grid-based(More)
In this paper, we present an algorithm for generating complex dynamically feasible maneuvers for autonomous vehicles traveling at high speeds over large distances. Our approach is based on performing anytime incremental search on a multi-resolution, dynamically feasible lattice state space. The resulting planner provides real-time performance and guarantees(More)
We present the Constrained Bi-directional Rapidly-Exploring Random Tree (CBiRRT) algorithm for planning paths in configuration spaces with multiple constraints. This algorithm provides a general framework for handling a variety of constraints in manipulation planning including torque limits, constraints on the pose of an object held by a robot, and(More)
We present a replanning algorithm for repairing rapidly-exploring random trees when changes are made to the configuration space. Instead of abandoning the current RRT, our algorithm efficiently removes just the newly-invalid parts and maintains the rest. It then grows the resulting tree until a new solution is found. We use this algorithm to create a(More)
We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultrareliability, high-speed operation, complex intervehicle interaction , parking in large unstructured lots, and constrained maneuvers. Our approach combines a(More)
We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating(More)
We present an efficient, anytime method for path planning in dynamic environments. Current approaches to planning in such domains either assume that the environment is static and replan when changes are observed, or assume that the dynamics of the environment are perfectly known a priori. Our approach takes into account all prior information about both the(More)