Title :
Poster Abstract: Hierarchical Hybrid-State Systems for Coordinated Autonomous Driving in Mixed-Traffic Urban Environments
Author :
Arda Kurt;Scott Biddlestone;Keith Redmill;Umit Özgüner
Author_Institution :
Electr. &
Abstract :
This study focuses on a number of control and coordination aspects of autonomous navigation in real-life urban traffic. By expanding the inherent hierarchy of the hybrid-state system formulation, a highly-structured yet modular architecture was developed to connect various traffic elements. The feasibility of coordination under vehicle-to-vehicle and vehicle-to-infrastructure communication was investigated through experiments with multiple vehicles and roadside units. The necessary levels of situational awareness abstractions for different tiers of the proposed hierarchy were studied on stochastic hybrid-state system estimators.
Keywords :
"Vehicles","Navigation","Humans","Maximum likelihood estimation","Educational institutions","Maximum likelihood detection","Conferences"
Conference_Titel :
Cyber-Physical Systems (ICCPS), 2012 IEEE/ACM Third International Conference on
Print_ISBN :
978-1-4673-1537-1
DOI :
10.1109/ICCPS.2012.48