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
Learning from examples in unstructured, outdoor environments
Jie Sun,Tejas R. Mehta,David Wooden,Matthew Powers,James M. Rehg,Tucker Balch,Magnus Egerstedt +6 more
TL;DR: A framework for integrating learning into a standard, hybrid navigation strategy, composed of both plan‐based and reactive controllers is presented, and individual feedback mappings from learned features to learned control actions are introduced as additional behaviors in the behavioral suite.
Journal ArticleDOI
Adaptive finite state machine based visual autonomous navigation system
Daniel O. Sales,Diogo Santos Ortiz Correa,Leandro C. Fernandes,Denis F. Wolf,Fernando Santos Osório +4 more
TL;DR: An original approach applied to autonomous mobile robots navigation integrating localization and navigation using a topological map based on the proposed AFSM (adaptive finite state machine) technique, which is demonstrated to be a promising approach toonomous mobile robots control and navigation.
Journal ArticleDOI
Coastal SLAM With Marine Radar for USV Operation in GPS-Restricted Situations
TL;DR: The relative navigation with respect to the surrounding coastlines is performed in the framework of simultaneous localization and mapping (SLAM) for a USV operation in coastal waters, and coastline features are parameterized by using B-splines for efficient map management, instead of the conventional point cloud representation.
Proceedings ArticleDOI
Sensing requirements for a 13,000 km intercontinental autonomous drive
TL;DR: The design issues that were considered for the equipment of 4 identical autonomous vehicles that will drive themselves without human intervention on an intercontinental route for more than 13,000 km are presented.
Book ChapterDOI
Path Tracking for Automated Driving: A Tutorial on Control System Formulations and Ongoing Research
TL;DR: Different steering-based path tracking algorithms, ranging from geometrical methods to model-predictive controllers, are presented and discussed in this article, together with the expected future research and vehicle implementation directions in the field.
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