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@InProceedings{ICRA12-au,
  author = {Tsz-Chiu Au and Michael Quinlan and Peter Stone},
  title = {Setpoint Scheduling for Autonomous Vehicle Controllers},
  booktitle = {Proceedings of {IEEE} International Conference on Robotics and Automation (ICRA)},
  location = {Minnesota, USA},
  month = {May},
  year = {2012},
  abstract = {
              This paper considers the problem of controlling an
              autonomous vehicle to arrive at a specific position on a
              road at a given time and velocity. This ability is
              particularly useful for a recently introduced autonomous
              intersection management protocol, called AIM, which has
              been shown to lead to lower delays than traffic signals
              and stop signs. Specifically, we introduce a setpoint
              scheduling algorithm for generating setpoints for the
              PID controllers for the brake and throttle actuators of
              an autonomous vehicle. The algorithm constructs a
              feasible setpoint schedule such that the vehicle arrives
              at the position at the correct time and velocity. Our
              experimental results show that the algorithm outperforms
              a heuristic-based setpoint scheduler that does not
              provide any guarantee about the arrival time and
              velocity.
	      },
}