Decisional Architecturesfor Motion

Motion autonomy has been a long standing issue in Robotics. Since the late sixties, several control architectures have been proposed. It seems accepted now that such architectures should feature both deliberative and reactive capabilities. The control architecture presented in this chapter has been designed for car-like vehicle. The road network is a complex environment (it is partially known and highly dynamic). However it is also structured with motion rules (the highway code) and it is possible to take advantage of these features in order to design a control architecture that is eecient, robust and exible. The control architecture presented herein relies upon the key concept of Sensor-Based Maneuver, i.e. general templates that encode the knowledge of how a speciic motion task is to be performed. This chapter also addresses the motion planning problem for such vehicles.