Safe Vehicle Navigation in Dynamic Urban Scenarios

  title={Safe Vehicle Navigation in Dynamic Urban Scenarios},
  author={Kristijan Macek and Dizan Vasquez and Thierry Fraichard and Roland Siegwart},
  journal={2008 11th International IEEE Conference on Intelligent Transportation Systems},
This paper has presented the deliberative part of the navigation architecture for the SmartTer platform, comprising two main component: (a) route planning, which finds a set of configurations between two given points of the environment while taking into account given traffic rules; and (b) partial motion planning, which handles the actual execution of the plan while taking into account the dynamic elements of the world. A key aspect of the navigation architecture proposed is that a special… CONTINUE READING
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