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Alexander Epstein
Researcher at Franklin W. Olin College of Engineering
Publications - 7
Citations - 1020
Alexander Epstein is an academic researcher from Franklin W. Olin College of Engineering. The author has contributed to research in topics: Motion planning & Pedestrian. The author has an hindex of 5, co-authored 5 publications receiving 966 citations.
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A perception-driven autonomous urban vehicle
John J. Leonard,Jonathan P. How,Seth Teller,Mitch Berger,Stefan Campbell,Gaston A. Fiore,Luke Fletcher,Emilio Frazzoli,Albert S. Huang,Sertac Karaman,Olivier Koch,Yoshiaki Kuwata,David Moore,Edwin Olson,Steve Peters,Justin Teo,Robert Truax,Matthew R. Walter,David Barrett,Alexander Epstein,Keoni Maheloni,Katy Moyer,Troy Jones,Ryan Buckley,Matthew Antone,Robert Galejs,Siddhartha Krishnamurthy,Jonathan K. Williams +27 more
TL;DR: This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data to provide a strong platform for future research in autonomous driving in global positioning system–denied and highly dynamic environments with poor a priori information.
Journal ArticleDOI
A Perception Driven Autonomous Urban Robot
John J. Leonard,Jonathan P. How,Seth Teller,Mitch Berger,Stefan Campbell,Gaston A. Fiore,Luke Fletcher,Emilio Frazzoli,Albert S. Huang,Sertac Karaman,Olivier Koch,Yoshiaki Kuwata,David J. P. Moore,Edwin Olson,Steve Peters,Justin Teo,Robert Truax,Matthew R. Walter,David Barrett,Alexander Epstein,Keoni Maheloni,Katy Moyer,Troy Jones,Ryan Buckley,Matthew Antone,Robert Galejs,Siddhartha Krishnamurthy,Jonathan K. Williams +27 more
TL;DR: This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data to provide a strong platform for future research in autonomous driving in global positioning system–denied and highly dynamic environments with poor a priori information.
A Perception-Driven Autonomous Urban Vehicle.
John J. Leonard,Jonathan P. How,Seth Teller,Mitch Berger,Stefan Campbell,Gaston A. Fiore,Luke Fletcher,Emilio Frazzoli,Albert S. Huang,Sertac Karaman,Olivier Koch,Yoshiaki Kuwata,David Moore,Edwin Olson,Steve Peters,Justin Teo,Robert Truax,Matthew R. Walter,David Barrett,Alexander Epstein,Keoni Maheloni,Katy Moyer,Troy Jones,Ryan Buckley,Matthew Antone,Robert Galejs,Siddhartha Krishnamurthy,Jonathan K. Williams +27 more
TL;DR: The architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incomplete map data are described, providing a strong platform for future research in autonomous driving in GPS-denied and highly dynamic environments with poor a priori information.
Team MIT Urban Challenge Technical Report
John J. Leonard,David Barrett,Jonathan P. How,Seth Teller,Matt Antone,Stefan Campbell,Alexander Epstein,Gaston A. Fiore,Luke Fletcher,Emilio Frazzoli,Albert S. Huang,Troy Jones,Olivier Koch,Yoshiaki Kuwata,Keoni Mahelona,David Moore,Katy Moyer,Edwin Olson,Steven C. Peters,Chris Sanders,Justin Teo,Matthew R. Walter +21 more
TL;DR: Experimental results demonstrate all basic navigation and some basic traffic behaviors, including unoccupied autonomous driving, lane following using purepursuit control and the authors' local frame perception strategy, obstacle avoidance using kinodynamic RRT path planning, Uturns, and precedence evaluation amongst other cars at intersections using their situational interpreter.