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
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Proceedings ArticleDOI
A Dynamic Motion Planning Framework for Autonomous Driving in Urban Environments
TL;DR: A framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking is presented.
Proceedings ArticleDOI
3D Reconstruction using a sparse laser scanner and a single camera for outdoor autonomous vehicle
TL;DR: This paper presents a 3D scene reconstruction method for autonomous vehicle driving in a wide range of outdoor environments which features two main phases: the local range modeling phase and 3D depth map reconstruction phase.
Journal ArticleDOI
Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method
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Niklas Funk,Nikhilesh Alatur,Robin Deuber,Frederick Gonon,Nico Messikommer,Julian Nubert,Moritz Patriarca,Simon Schaefer,Dominic Scotoni,Nicholas Bünger,Renaud Dubé,Raghav Khanna,Mark Pfeiffer,Erik Wilhelm,Roland Siegwart +14 more
TL;DR: The conversion of a standard Kyburz eRod is presented into an autonomous vehicle that can be operated in challenging environments such as Swiss mountain passes and shows state of the art results in localization and controls for self-driving high-performance electric vehicles.
Proceedings ArticleDOI
Development of an intelligent mobility scooter
Masataka Hirai,Tetsuo Tomizawa,Satoshi Muramatsu,Masanori Sato,Shunsuke Kudoh,Takashi Suehiro +5 more
TL;DR: The navigation system, including the functions of localization using grid map matching, path following, and obstacle avoidance, is implemented on the proposed robot platform.
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