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We describe an autonomous robotic software subsystem for managing mission execution and discrete traffic interaction in the 2007 DARPA Urban Challenge. Its role is reviewed in the context of the software system that controls ldquoBossrdquo, Tartan Racingpsilas winning entry in the competition. Design criteria are presented, followed by the application of software design principles to derive an architecture well suited to the rigors of developing complex robotic systems. Combined with a discussion of robust behavioral algorithms, the designpsilas effectiveness is highlighted in its ability to manage complex autonomous driving behaviors while remaining adaptable to the systempsilas evolving capabilities.
Baker et al. (Mon,) studied this question.