-
Chris Urmson,
Joshua Anhalt,
Drew Bagnell,
Christopher Baker,
Robert Bittner, M. N. Clark,
John Dolan,
Dave Duggins,
Tugrul Galatali,
Chris Geyer, [......],
Thomas Brown,
Daniel Demitrish,
Bakhtiar Litkouhi,
Jim Nickolaou,
Varsha Sadekar,
Wende Zhang,
Joshua Struble,
Michael Taylor,
Michael Darms,
Dave Ferguson
[show abstract]
[hide abstract]
ABSTRACT: Boss is an autonomous vehicle that uses on-board sensors (GPS, lasers, radars, and cameras) to track other vehicles, detect
static obstacles and localize itself relative to a road model. A three-layer planning system combines mission, behavioral
and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a
mission goal. The behavioral layer determines when to change lanes, precedence at intersections and performs error recovery
maneuvers. The motion planning layer selects actions to avoid obstacles while making progress towards local goals.
The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system
development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and
the 85km Urban Challenge Final Event Boss demonstrated some of its capabilities, qualifying first and winning the challenge.
11/2009: pages 1-59;
-
Chris Urmson,
Joshua Anhalt,
Drew Bagnell,
Christopher R. Baker,
Robert Bittner, M. N. Clark,
John M. Dolan,
Dave Duggins,
Tugrul Galatali,
Christopher Geyer, [......],
Thomas Brown,
Daniel Demitrish,
Bakhtiar Litkouhi,
Jim Nickolaou,
Varsha Sadekar,
Wende Zhang,
Joshua Struble,
Michael Taylor,
Michael Darms,
Dave Ferguson
The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA; 01/2009
-
Chris Urmson,
Joshua Anhalt,
Drew Bagnell,
Christopher R. Baker,
Robert Bittner, M. N. Clark,
John M. Dolan,
Dave Duggins,
Tugrul Galatali,
Christopher Geyer, [......],
Thomas Brown,
Daniel Demitrish,
Bakhtiar Litkouhi,
Jim Nickolaou,
Varsha Sadekar,
Wende Zhang,
Joshua Struble,
Michael Taylor,
Michael Darms,
Dave Ferguson
J. Field Robotics. 01/2008; 25:425-466.
-
Chris Urmson,
Joshua Anhalt,
Drew Bagnell,
Christopher Baker,
Robert Bittner, M N Clark,
John Dolan,
Dave Duggins,
Tugrul Galatali,
Chris Geyer, [......],
Thomas Brown,
Daniel Demitrish,
Bakhtiar Litkouhi,
Jim Nickolaou,
Varsha Sadekar,
Wende Zhang,
Joshua Struble,
Michael Taylor,
Michael Darms,
Dave Ferguson
[show abstract]
[hide abstract]
ABSTRACT: Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars, and cameras) to track other vehicles, detect static obstacles, and localize itself relative to a road model. A three-layer planning system combines mission, behav-ioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when to change lanes and precedence at intersections and performs error recovery maneu-vers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the require-ments of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualifica-tion Event and the 85-km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge. C 2008 Wiley Periodicals, Inc.
Journal of Field Robotics 01/2008; 25:425-466. · 2.24 Impact Factor
