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The Robot that Won the DARPA Grand Challenge

By Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Kenny Lau, Celia Oakley, Mark Palatucci, Vaughan Pratt, Pascal Stang, Sven Strohb, Cedric Dupont, Lars-erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe Van Niekerk, Eric Jensen, Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, Ara Nefian and Pamela Mahoney

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. (a) (b

Topics: Figure 1, a) At approximately 1, 40pm on Oct 8, 2005, Stanley is the first robot to complete the
Year: 2006
OAI identifier: oai:CiteSeerX.psu:10.1.1.134.5931
Provided by: CiteSeerX
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