The 2005 DARPA Grand Challenge

by Buehler, Martin; Iagnemma, Karl; Singh, Sanjiv

• ISBN13: 9783540734284
• ISBN10: 3540734287
• Format: Hardcover
• Copyright: 2007-10-04
• Publisher: Springer Verlag

Summary

The DARPA Grand Challenge was a landmark in the field of robotics: a race by autonomous vehicles through 132 miles of rough, cross-country Nevada terrain that showcased exciting and unprecedented capabilities in robotic perception, navigation, and control. The event took place in October 2005, and drew teams of competitors from academia and industry, and many garage hobbyists. This book presents fifteen technical papers that are written at a level that makes them easily accessible to a broad technical audience, describing the technology behind most of the robotic vehicles that participated in this famous race. The papers describe each team's driverless vehicle, race strategy, and insights. As a whole, they present the state of the art in autonomous vehicle technology, and offer a glimpse of future technology for tomorrow's driverless cars. This book will serve as an authoritative, archival source for the DARPA Grand Challenge and a"must have" for robotics students and researchers, since it describes the state of the art in perception, planning and control.

Table of Contents

Stanley: The Robot That Won the DARPA Grand Challenge	p. 1
A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain	p. 45
KAT-5: Robust Systems for Autonomous Vehicle Navigation in Challenging and Unknown Terrain	p. 103
The TerraMax Autonomous Vehicle	p. 129
Virginia Tech's Twin Contenders: A Comparative Study of Reactive and Deliberative Navigation	p. 155
Intelligent Off-Road Navigation Algorithms and Strategies of Team Desert Buckeyes in the DARPA Grand Challenge '05	p. 183
The Golem Group / UCLA Autonomous Ground Vehicle in the DARPA Grand Challenge	p. 205
CajunBot: Architecture and Algorithms	p. 245
SciAutonics-Auburn Engineering's Low Cost High Speed ATV for the 2005 DARPA Grand Challenge	p. 281
Team CIMAR's NaviGATOR: An Unmanned Ground Vehicle for the 2005 DARPA Grand Challenge	p. 311
Prospect Eleven: Princeton University's Entry in the 2005 DARPA Grand Challenge	p. 349
Cornell University's 2005 DARPA Grand Challenge Entry	p. 363
A Mixture-Model Based Algorithm for Real-Time Terrain Estimation	p. 407
Alice: An Information-Rich Autonomous Vehicle for High-Speed Desert Navigation	p. 437
MITRE Meteor: An Off-Road Autonomous Vehicle for DARPA's Grand Challenge	p. 483
Table of Contents provided by Blackwell. All Rights Reserved.