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Proceedings of 1995 American Control Conference - ACC'95
We propose a hierarchical control architecture for dealing with faults and adverse environmental conditions on an Automated Highway System (AHS). Our design builds on a previously designed control architecture that works under normal conditions of operation. The faults that are considered in our design are classified according to capabilities remaining on the vehicle or roadside after the fault has occurred. Information about these capabilities is used by supervisors in each of the layers todoi:10.1109/acc.1995.533806 fatcat:kmkvtlonufaapkf6jjbqubgecq