Abstract
Autonomous navigation in urban environments inevitably leads to having to switch between various, sometimes conflicting control tasks. Sting Racing, a collaboration between Georgia Tech and SAIC, has developed a modular control architecture for this purpose and thispaperdescribestheoperationanddefinitionofthisarchitecturethroughso-callednested hybrid automata. We show how to map the requirements associated with the DARPA Urban GrandChallengeontothesenestedautomataandillustratetheiroperationthroughanumber of experimental results.
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