1. 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

2. 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

3. 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

4. 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