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Conference papers

Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles

Rodrigo Benenson 1 Stéphane Petti 1 Michel Parent 1 Thierry Fraichard 2
2 E-MOTION - Geometry and Probability for Motion and Action
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : The paper addresses the problem of autonomous navigation of a car-like robot evolving in an urban environment. Such an environment exhibits an heterogeneous geometry and is cluttered with moving obstacles. Furthermore, in this context, motion safety is a critical issue. The proposed approach to the problem lies in the coupling of two crucial robotic capabilities, namely perception and planning. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system.
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Contributor : Rodrigo Benenson Connect in order to contact the contributor
Submitted on : Tuesday, July 18, 2006 - 2:38:22 PM
Last modification on : Thursday, February 11, 2021 - 2:58:06 PM
Long-term archiving on: : Tuesday, April 6, 2010 - 12:13:37 AM


  • HAL Id : inria-00086286, version 1




Rodrigo Benenson, Stéphane Petti, Michel Parent, Thierry Fraichard. Integrating Perception and Planning for Autonomous Navigation of Urban Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2006, Beijing, Chine. ⟨inria-00086286⟩



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