The CyCab: a car-like robot navigating autonomously and safely among pedestrians Export

@article{2005pradalier_cycab, abstract = {The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques.}, address = {Amsterdam, Netherlands}, author = {Pradalier, C\'{e}dric and Hermosillo, Jorje and Koike, Carla and Braillon, Christophe and Bessi\`{e}re, Pierre and Laugier, Christian}, citeulike-article-id = {3179466}, citeulike-linkout-0 = {http://dx.doi.org/10.1016/j.robot.2004.10.002}, citeulike-linkout-1 = {http://linkinghub.elsevier.com/retrieve/pii/S0921889004001848}, citeulike-linkout-2 = {http://www.sciencedirect.com/science/article/B6V16-4F3NY1T-7/2/758c3f43617aa61da73ff86a64eaf652}, citeulike-linkout-3 = {http://emotion.inrialpes.fr/bibemotion/2005/PHKBBL05/pradalier-etal-ras-05.pdf}, day = {31}, doi = {10.1016/j.robot.2004.10.002}, editor = {Arai, T. and Dillmann, R. and Henderson, T. C.}, issn = {09218890}, journal = {Robotics and Autonomous Systems}, keywords = {artificialintelligence, autonomous, robot, vehicle}, month = {January}, number = {1}, pages = {51--67}, posted-at = {2009-08-06 09:52:30}, priority = {2}, publisher = {Elsevier B.V.}, title = {The {CyCab}: a car-like robot navigating autonomously and safely among pedestrians}, url = {http://dx.doi.org/10.1016/j.robot.2004.10.002}, volume = {50}, year = {2005} }

TY - JOUR ID - 2005pradalier_cycab L3 - citeulike-article-id:3179466 N2 - The recent development of a new kind of public transportation system relies on a particular double-steering kinematic structure enhancing manoeuvrability in cluttered environments such as downtown areas. We call bi-steerable car a vehicle showing this kind of kinematics. Endowed with autonomy capacities, the bi-steerable car ought to combine suitably and safely a set of abilities: simultaneous localisation and environment modelling, motion planning and motion execution amidst moderately dynamic obstacles. In this paper we address the integration of these four essential autonomy abilities into a single application. Specifically, we aim at reactive execution of planned motion. We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques. IS - 1 JF - Robotics and Autonomous Systems SN - 09218890 AD - Amsterdam, Netherlands EP - 67 TI - The {CyCab}: a car-like robot navigating autonomously and safely among pedestrians PB - Elsevier B.V. VL - 50 SP - 51 KW - artificialintelligence KW - autonomous KW - robot KW - vehicle AU - Pradalier, Cédric AU - Hermosillo, Jorje AU - Koike, Carla AU - Braillon, Christophe AU - Bessière, Pierre AU - Laugier, Christian A2 - Arai, T A2 - Dillmann, R A2 - Henderson, TC PY - 2005/January/31/ UR - http://dx.doi.org/10.1016/j.robot.2004.10.002 ER -