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
Journal ArticleDOI
Intersection detection and recognition for autonomous urban driving using a virtual cylindrical scanner
TL;DR: The authors use a novel model called a virtual cylindrical scanner for efficient feature-level representation of the point cloud data and use support vector machine classifiers to resolve the classification problem according to the features extracted.
Posted Content
A Survey of Research on Control of Teams of Small Robots in Military Operations.
Stuart Young,Alexander Kott +1 more
TL;DR: This paper considers the command of practical small robots, comparable to current generation, small unmanned ground vehicles (e.g., PackBots) with limited computing and sensor payload, as opposed to larger vehicle-sized robots or micro-scale robots.
Journal ArticleDOI
Coordinated motion control for automated vehicles considering steering and driving force saturations
TL;DR: A novel motion controller for automated vehicles with uniform ultimate boundednesses of motion control errors are guaranteed and results show that the proposed controller owns smaller steady-state errors and faster convergence speed.
Journal ArticleDOI
A Kalman-filtering-based Approach for Improving Terrain Mapping in off-road Autonomous Vehicles
TL;DR: The proposed methodology uses an Extended Kalman filter to estimate in real-time the instantaneous pose of the vehicle and the laser rangefinders by considering measurements acquired from an inertial measurement unit, internal sensorial data of the Vehicle and the estimated heights of the four wheels, which are obtained from the terrain map and allow determination of the vehicles’ inclination.
Proceedings ArticleDOI
Precise point positioning for mobile robots using software GNSS receiver and QZSS LEX signal
Taro Suzuki,Nobuaki Kubo +1 more
TL;DR: This paper describes outdoor localization for a mobile robot using precise point positioning (PPP) based on the Quasi-Zenith Satellite System (QZSS) L-band Experiment (LEX) signal and developed a method for extracting the QZSS LEX message in real time using a software GNSS receiver.
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