Stanley: The Robot that Won the DARPA Grand Challenge
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Cites methods from "Stanley: The Robot that Won the DAR..."
...The next year, five vehicles were able to complete a similar challenge, with Stanley (Thrun et al., 2006) finishing minutes ahead of Sandstorm and H1ghlander (Urmson et al., 2006) to complete the 244-km race in a little under 7 h....
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Cites background or result from "Stanley: The Robot that Won the DAR..."
...A more recent example of AFS applications in autonomous vehicles is the “Grand Challenge” race driving [5], [23], [30]....
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...Details on the vehicle dynamical model used in [30] are not disclosed....
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...The GNC architecture in [30] is similar to [23]....
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References
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"Stanley: The Robot that Won the DAR..." refers background in this paper
...An unscented Kalman lter (UKF) ( Julier and Uhlmann, 1997 ) estimates these quantities at an update rate of 100Hz....
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...…Merwe and Wan, 2004]: # values state variable 3 position (longitude, latitude, altitude) 3 velocity 3 orientation (Euler angles: roll, pitch, yaw) 3 accelerometer biases 3 gyro biases An unscented Kalman filter (UKF) [Julier and Uhlmann, 1997] estimates these quantities at an update rate of 100Hz....
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3,166 citations
"Stanley: The Robot that Won the DAR..." refers methods in this paper
...Using a linear bicycle model with infinite tire stiffness and tight steering limitations see Gillespie, 1992 results in the following effect of the control law:...
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