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Article
Platform-Independent Autonomy Modeling
Departmental Papers (CIS)
  • Oleg Sokolsky, University of Pennsylvania
  • George J. Pappas, University of Pennsylvania
Date of this Version
8-26-2004
Document Type
Conference Paper
Comments
Presented at the 4th International Conference on Intelligent Systems Design and Applications 2004 (ISDA 2004), Budapest, Hungary, August 26-28, 2004.
Abstract

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.

Keywords
  • Autonomy,
  • model-based design,
  • behavioral modeling
Citation Information
Oleg Sokolsky and George J. Pappas. "Platform-Independent Autonomy Modeling" (2004)
Available at: http://works.bepress.com/george_pappas/108/