World modeling and behavior generation for autonomous ground vehicle

@article{Balakirsky2000WorldMA,
  title={World modeling and behavior generation for autonomous ground vehicle},
  author={Stephen Balakirsky and Alberto Lacaze},
  journal={Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)},
  year={2000},
  volume={2},
  pages={1201-1206 vol.2}
}
We define an architecture for course vehicle motion planning within the real-time control system hierarchy. Interaction between the planning system and world model is discussed, and results of this system being implemented on a real world system are presented. 

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