Planning Team: System Architecture Themes General Ideas: Looking at overall system architecture for now – not the fine (or even rough) details Combine common sensors into ONE map (better deliberative planning, sensor registration) Overhaul some code pieces (i.e. genMap) for speed and for modularity Have multiple paths of different speeds to actuators (“fast” reactive” vs. “slow” deliberative) with mode management Use subsumption architecture for mode management Different Ideas: Where does road-following go? Map vs. separate thread (or both!?) Mode management: pure arbitration vs. combo arbitration/mode management vs. pure mode management

System Architecture: Current Plan Cruise Control / Actuators High Precision Rangefinders (e.g. LADAR, stereovision) Many DEM’s Many Cost Maps Arbiter Reactive Path Planner A Priori Map Data (Vector road maps, topo maps, aerial laser scans, fender points, etc.) Waypoints & Corridor Info Road Following, Feature Extraction Monocular Cameras DFE System Architecture: Current Plan

System Architecture: Plan 1 Cruise Control / Actuators Monocular Cameras Low Precision Rangefinders (e.g. sonar, radar, …) Mode Manager Road Following, Feature Extraction Arbiter (Vote Aggregation) High Precision Rangefinders (e.g. LADAR, stereovision) Deliberative Path Planner (e.g. D*) Local Map (DEM) Static Map (DEM) Path Follower A Priori Map Data (Vector road maps, topo maps, aerial laser scans, fender points, etc.) Reactive Path Planner Waypoints & Corridor Info System Architecture: Plan 1 DFE

System Architecture: Plan 2 Road Following, Feature Extraction Monocular Cameras Cruise Control / Actuators Low Precision Rangefinders (e.g. sonar, radar, …) Mode Manager Single DEM Path Follower High Precision Rangefinders (e.g. LADAR, stereovision) Path Refiner (e.g. NTG/DFE) DEM to Cost Conversion A Priori Map Data (Vector road maps, topo maps, aerial laser scans, fender points, etc.) Deliberative Path Planner (e.g. D*) Cost Map Waypoints & Corridor Info System Architecture: Plan 2