We describe an approach for high-level modeling behaviors of autonomous vehicles and an infrastructure for executing these behaviors on a particular vehicle platform. The language directly represents behavioral primitives and constraints on their composition. The control infrastructure maps these behavioral primitives on the native vehicle interface in a model-driven fashion. As a result, the user is presented with an abstract motion planning interface that hides the intricate details of the vehicle implementation.
- model-based design,
- behavioral modeling
Available at: http://works.bepress.com/george_pappas/108/