Robust Global-Local Behavior Arbitration via Continuous Command Fusion Under LiDAR Errors

1. 1Develop a global reference-tracking controller based on Pure Pursuit
2. 2Implement a reactive LiDAR-based Gap Follow controller
3. 3Design a continuous command fusion module to arbitrate between the two controllers
4. 4Test and evaluate the arbitration module under various LiDAR error scenarios

This research benefits autonomous driving system developers and engineers, particularly those working on modular systems that require coordination between global progress objectives and local safety-driven reactions

💡 Continuous command fusion can effectively arbitrate between global and local controllers in autonomous driving systems under imperfect sensing conditions

💡 Autonomous driving systems: robust arbitration module fuses global & local controllers under LiDAR errors