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The DARPA Urban Challenge

Autonomous Vehicles in City Traffic

  • Book
  • © 2009

Overview

Editors:
  1. Martin Buehler

    1. iRobot Corporation, Bedford, USA

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  2. Karl Iagnemma

    1. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, USA

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    You can also search for this editor in PubMed   Google Scholar

  3. Sanjiv Singh

    1. Robotics Institute, Carnegie Mellon University, Pittsburgh, USA

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  • Original papers of all the important participants of the famous DARPA Urban Challenge
  • A "must have" for robotics researchers and students
  • Describes the state of the art in perception, planning and control of robots

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 56)

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Table of contents (14 chapters)

  1. Front Matter

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  2. Autonomous Driving in Urban Environments: Boss and the Urban Challenge

    • Chris Urmson, Joshua Anhalt, Drew Bagnell, Christopher Baker, Robert Bittner, M. N. Clark et al.
    Pages 1-59

  3. Motion Planning in Urban Environments

    • Dave Ferguson, Thomas M. Howard, Maxim Likhachev
    Pages 61-89

  4. Junior: The Stanford Entry in the Urban Challenge

    • Michael Montemerlo, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp, Dmitri Dolgov, Scott Ettinger et al.
    Pages 91-123

  5. Odin: Team VictorTango’s Entry in the DARPA Urban Challenge

    • Charles Reinholtz, Dennis Hong, Al Wicks, Andrew Bacha, Cheryl Bauman, Ruel Faruque et al.
    Pages 125-162

  6. A Perception-Driven Autonomous Urban Vehicle

    • John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore et al.
    Pages 163-230

  7. Little Ben: The Ben Franklin Racing Team’s Entry in the 2007 DARPA Urban Challenge

    • Jon Bohren, Tully Foote, Jim Keller, Alex Kushleyev, Daniel Lee, Alex Stewart et al.
    Pages 231-255

  8. Team Cornell’s Skynet: Robust Perception and Planning in an Urban Environment

    • Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline, Pete Moran et al.
    Pages 257-304

  9. A Practical Approach to Robotic Design for the DARPA Urban Challenge

    • Benjamin J. Patz, Yiannis Papelis, Remo Pillat, Gary Stein, Don Harper
    Pages 305-358

  10. Team AnnieWAY’s Autonomous System for the DARPA Urban Challenge 2007

    • Sören Kammel, Julius Ziegler, Benjamin Pitzer, Moritz Werling, Tobias Gindele, Daniel Jagzent et al.
    Pages 359-391

  11. Driving with Tentacles - Integral Structures for Sensing and Motion

    • Felix v. Hundelshausen, Michael Himmelsbach, Falk Hecker, Andre Mueller, Hans-Joachim Wuensche
    Pages 393-440

  12. Caroline: An Autonomously Driving Vehicle for Urban Environments

    • Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus Magnor, Karsten Cornelsen, Jan Effertz et al.
    Pages 441-508

  13. The MIT – Cornell Collision and Why It Happened

    • Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How et al.
    Pages 509-548

  14. A Perspective on Emerging Automotive Safety Applications, Derived from Lessons Learned through Participation in the DARPA Grand Challenges

    • J. R. McBride, J. C. Ivan, D. S. Rhode, J. D. Rupp, M. Y. Rupp, J. D. Higgins et al.
    Pages 549-593

  15. TerraMax: Team Oshkosh Urban Robot

    • Yi-Liang Chen, Venkataraman Sundareswaran, Craig Anderson, Alberto Broggi, Paolo Grisleri, Pier Paolo Porta et al.
    Pages 595-622

  16. Back Matter

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Keywords

About this book

By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.

Editors and Affiliations

  • iRobot Corporation, Bedford, USA

    Martin Buehler

  • Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, USA

    Karl Iagnemma

  • Robotics Institute, Carnegie Mellon University, Pittsburgh, USA

    Sanjiv Singh

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