A Case Study in Behavioral Subsystem Engineering for the Urban Challenge

We present a case study in the design of 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 overall software system that controls “Boss”, Tartan Racing’s winning entry in the competition. Design criteria are presented, followed by the application of design principles to derive an architecture well suited to the rigors of developing complex robotic software. The design’s effectiveness is highlighted through a discussion of its ability to meet the subsystem’s requirements while remaining adaptable to the ever-changing needs and capabilities of the surrounding system.