Detection, prediction, and avoidance of dynamic obstacles in urban environments

@article{Ferguson2008DetectionPA,
  title={Detection, prediction, and avoidance of dynamic obstacles in urban environments},
  author={Dave Ferguson and Michael Darms and Chris Urmson and Sascha Kolski},
  journal={2008 IEEE Intelligent Vehicles Symposium},
  year={2008},
  pages={1149-1154}
}
We present an approach for robust detection, prediction, and avoidance of dynamic obstacles in urban environments. After detecting a dynamic obstacle, our approach exploits structure in the environment where possible to generate a set of likely hypotheses for the future behavior of the obstacle and efficiently incorporates these hypotheses into the planning process to produce safe actions. The techniques presented are very general and can be used with a wide range of sensors and planning… 

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