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Robust road-boundary extraction/tracking is one of the main problems in autonomous roadway navigation. Although the road boundary can be defined by various means including lane markings, curbs, and borders of vegetation, this paper focuses on road-boundary tracking using curbs. A vehicle-mounted (downward tilted) 2-D laser-measurement system is utilized to detect the curbs. The tracking problem is difficult because both the vehicle is moving and the target is disappearing, reappearing, and maneuvering in clutter. The interacting-multiple-model probabilistic-data-association filter (IMMPDAF) is proposed to solve the problems after detailed analysis. Track initiation, confirmation, and deletion are performed using the sequential-probability-ratio test. Extensive simulations followed by experiments in a campus environment show that the road-boundary tracking utilizing curbs is possible and robust through IMMPDAF. [ABSTRACT FROM AUTHOR]

The article discusses the development of an agent-based control for networked traffic management systems in the United States. Control algorithms have been developed to run various industrial devices, including intersection traffic controllers. The agent-based control method decomposes a control algorithm into many simple task-oriented control agents distributed over a network, generally a wide-area network. Control agents that can be deployed and replaced over the network as operating conditions vary will run network-enabled devices. In this way, a network-enabled device can operate on a control on demand basis.