Stanley: The Robot that Won the DARPA Grand Challenge
Sebastian Thrun,Michael Montemerlo,Hendrik Dahlkamp,David Stavens,Andrei Aron,James Diebel,Philip Fong,John Gale,Morgan Halpenny,Gabriel M. Hoffmann,Kenny Lau,Celia M. Oakley,Mark Palatucci,Vaughan R. Pratt,Pascal Stang,Sven Strohband,Cedric Dupont,Lars-Erik Jendrossek,Christian Koelen,Charles Markey,Carlo Rummel,Joe van Niekerk,Eric Jensen,Philippe Alessandrini,Gary Bradski,Bob Davies,Scott M. Ettinger,Adrian Kaehler,Ara V. Nefian,Pamela Mahoney +29 more
TLDR
The robot Stanley, which won the 2005 DARPA Grand Challenge, was developed for high‐speed desert driving without manual intervention and relied predominately on state‐of‐the‐art artificial intelligence technologies, such as machine learning and probabilistic reasoning.Abstract:
This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without human intervention. The robot’s software system relied predominately on state-of-the-art AI technologies, such as machine learning and probabilistic reasoning. This article describes the major components of this architecture, and discusses the results of the Grand Challenge race.read more
Citations
More filters
Proceedings ArticleDOI
ViNG: Learning Open-World Navigation with Visual Goals
TL;DR: In this article, a learning-based navigation system for reaching visually indicated goals is proposed, which combines a learned policy with a topological graph constructed out of previously observed data, and can determine how to reach this visually indicated goal even in the presence of variable appearance and lighting.
Proceedings ArticleDOI
An Environment to Support Structural Testing of Autonomous Vehicles
TL;DR: A previously proposed testing model and a software tool to support structural testing in the context of autonomous vehicle field testing have been improved to support the generation of new input data from logs collected during field testing using strategies of combination and mutation.
Journal ArticleDOI
Consensus-based local information coordination for the networked control of the autonomous intersection management
TL;DR: This paper introduces the distributed control to a graph-based intersection network to control traffic in a macroscopic level and implements a discrete time consensus algorithm to coordinate the traffic density of an intersection with its neighborhoods and determine the control policy to maximize a traffic throughput of each intersection as well as stabilizing the overall traffic in the network.
Proceedings ArticleDOI
Learning Path Tracking for Real Car-like Mobile Robots From Simulation
TL;DR: Evaluations for running the trained RL network on the real car show that the RL agent can control the car smoothly and reduce the velocity adaptively to follow a sample track.
Proceedings ArticleDOI
Flexible Navigation: Finite state machine-based integrated navigation and control for ROS enabled robots
David C. Conner,Justin Willis +1 more
TL;DR: The Flexible Navigation system is described that extends the ROS Navigation stack and compatible libraries to separate computation from decision making, and integrates the system with FlexBE — the Flexible Behavior Engine, which provides intuitive supervision with adjustable autonomy.
References
More filters
Journal ArticleDOI
Pattern Classification and Scene Analysis.
Book
Pattern classification and scene analysis
Richard O. Duda,Peter E. Hart +1 more
TL;DR: In this article, a unified, comprehensive and up-to-date treatment of both statistical and descriptive methods for pattern recognition is provided, including Bayesian decision theory, supervised and unsupervised learning, nonparametric techniques, discriminant analysis, clustering, preprosessing of pictorial data, spatial filtering, shape description techniques, perspective transformations, projective invariants, linguistic procedures, and artificial intelligence techniques for scene analysis.
Proceedings ArticleDOI
New extension of the Kalman filter to nonlinear systems
Simon Julier,Jeffrey Uhlmann +1 more
TL;DR: It is argued that the ease of implementation and more accurate estimation features of the new filter recommend its use over the EKF in virtually all applications.
Book
Fundamentals of Vehicle Dynamics
TL;DR: In this article, the authors attempt to find a middle ground by balancing engineering principles and equations of use to every automotive engineer with practical explanations of the mechanics involved, so that those without a formal engineering degree can still comprehend and use most of the principles discussed.
Related Papers (5)
Autonomous driving in urban environments: Boss and the Urban Challenge
Chris Urmson,Joshua Anhalt,Drew Bagnell,Christopher R. Baker,Robert Bittner,Michael Clark,John M. Dolan,D Duggins,Tugrul Galatali,Christopher Geyer,Michele Gittleman,Sam Harbaugh,Martial Hebert,Thomas M. Howard,Sascha Kolski,Alonzo Kelly,Maxim Likhachev,Matthew McNaughton,Nick Miller,Kevin Peterson,Brian Pilnick,Ragunathan Rajkumar,Paul E. Rybski,Bryan Salesky,Young-Woo Seo,Sanjiv Singh,Jarrod M. Snider,Anthony Stentz,William Whittaker,Ziv Wolkowicki,Jason Ziglar,Hong Bae,Thomas G. Brown,Daniel Demitrish,Bakhtiar Brian Litkouhi,Jim Nickolaou,Varsha Sadekar,Wende Zhang,Joshua Struble,Michael Taylor,Michael Darms,Dave Ferguson +41 more