DAMN: a distributed architecture for mobile navigation

Rosenblatt, Julio K.

doi:10.1080/095281397147167

Cited by 259 publications

(172 citation statements)

References 19 publications

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“…Odin's perception, planning, and acting occur at several levels and in parallel tasks, acting on the most recent information received from other modules. With traditional hybrid architectures, deliberative components are usually kept at a high level, whereas the more reactive, behavior-based, components are used at a low level for direct actuator control (Konolige & Myers, 1998;Rosenblatt, 1995). With the rapid growth of computing technology, however, there has been a reemergence of deliberative methods for low-level motion planning (Thrun et al, 2006;Urmson et al, 2006).…”

Section: System Architecture and Communicationsmentioning

confidence: 99%

Odin: Team VictorTango's entry in the DARPA Urban Challenge

Reinholtz

Hong

Wicks

et al. 2008

Journal of Field Robotics

244

102

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The DARPA Urban Challenge required robotic vehicles to travel more than 90 km through an urban environment without human intervention and included situations such as stop intersections, traffic merges, parking, and roadblocks. Team VictorTango separated the problem into three parts: base vehicle, perception, and planning. A Ford Escape outfitted with a custom drive-by-wire system and computers formed the basis for Odin. Perception used laser scanners, global positioning system, and a priori knowledge to identify obstacles, cars, and roads. Planning relied on a hybrid deliberative/reactive architecture to Robotics-2008 analyze the situation, select the appropriate behavior, and plan a safe path. All vehicle modules communicated using the JAUS (Joint Architecture for Unmanned Systems) standard. The performance of these components in the Urban Challenge is discussed and successes noted. The result of VictorTango's work was successful completion of the Urban Challenge and a third-place finish. C 2008 Wiley Periodicals, Inc.

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Section: System Architecture and Communicationsmentioning

confidence: 99%

Odin: Team VictorTango's entry in the DARPA Urban Challenge

Reinholtz

Hong

Wicks

et al. 2008

Journal of Field Robotics

244

102

View full text Add to dashboard Cite

show abstract

“…The digital map combines online environmental information with available offline information generated from mission definition files (MDFs) and route network definition files (RNDFs) provided for the mission. The combined data are the basis for the AI to generate driving decisions based on a distributed architecture for mobile navigation scheme (DAMN) as proposed by Rosenblatt (1997) and described in Section 4.3.…”

Section: System Architecturementioning

confidence: 99%

“…This curvature, as the most important factor to influence, is selected in an arbiter as described in the DAMN architecture (Rosenblatt, 1997). This architecture models each input as behavior, which gives a vote for each possible curvature.…”

Section: The Damn Architecturementioning

confidence: 99%

Caroline: An autonomously driving vehicle for urban environments

Rauskolb¹,

Berger²,

Lipski³

et al. 2008

Journal of Field Robotics

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The 2007 DARPA Urban Challenge afforded the golden opportunity for the Technische Universität Braunschweig to demonstrate its abilities to develop an autonomously driving vehicle to compete with the world's best. After several stages of qualification, our team CarOLO qualified early for the DARPA Urban Challenge Final Event and was among only 11 teams from initially 89 competitors to compete in the final. We had the ability to work together in a large group of experts, each contributing his expertise in his discipline, and significant organizational, financial, and technical support by local sponsors, who helped us to become the best non‐U.S. team. In this report, we describe the 2007 DARPA Urban Challenge, our contribution, “Caroline,” the technology, and algorithms, along with her performance in the DARPA Urban Challenge Final Event on November 3, 2007. © 2008 Wiley Periodicals, Inc.

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“…This set of available manoeuvres is then filtered by excluding those leading to collision, based on the information the robot has about its surrounding obstacles. The final control command is then decided upon by availing of a DAMN-like voting coordination mechanism (VFH) [13], with each primitive expressing the cost they associate with each manoeuvre when voting. The behavioural system itself remains unchanged from that of our previous entry to the competition, for further details of the behavioural subsystem see [2].…”

Section: Agent Team Strategymentioning

confidence: 99%

From bogtrotting to herding: a UCD perspective

Russell

Carr

Dragone

et al. 2011

Ann Math Artif Intell

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Publication informationAnnals of Mathematics and Artificial Intelligence, 61 (4) Abstract. This is the third year in which a team from University College Dublin has participated in the Multi Agent Contest 1 . This paper describes the system that was created to participate in the contest, along with observations of the team's experiences in the contest. The system itself was built using the AF-TeleoReactive and AF-AgentSpeak agent programming languages running on the Agent Factory platform. A hybrid control architecture inspired by the SoSAA strategy aided in the separation of concerns between low-level behaviours (such as movement and obstacle evasion) and higher-level planning and strategy.

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DAMN: a distributed architecture for mobile navigation

Cited by 259 publications

References 19 publications

Odin: Team VictorTango's entry in the DARPA Urban Challenge

Odin: Team VictorTango's entry in the DARPA Urban Challenge

Caroline: An autonomously driving vehicle for urban environments

From bogtrotting to herding: a UCD perspective

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