A personal account of the development of Stanley, the robot that won the DARPA grand challenge

AI Magazine

Volumn 27, Issue 4, 2006, Pages 69-82

  Thrun, Sebastian ^a  

^a STANFORD UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

PROBABILISTIC INFERENCE; TECHNOLOGICAL INNOVATION;

ARTIFICIAL INTELLIGENCE; AUTONOMOUS AGENTS; COMPUTER VISION; INFERENCE ENGINES; LEARNING SYSTEMS;

ROBOTICS;

EID: 33846054366     PISSN: 07384602     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (12)

1. Dahlkamp, H.; Kaehler, A.; Stavens, D.; Thrun, S.; and Bradski, G. 2006. Self-Supervised Monocular Road Detection in Desert Terrain. Paper presented at the Robotics Science and Systems Conference, 16-19 August, Philadelphia, PA.
2. Defense Advanced Research Projects Agency. 2004. DARPA Grand Challenge Rule-book, 2004. Washington, DC: U.S. Government Printing Office.
3. Dickmanns, E. D. 2002. Vision for Ground Vehicles: History and Prospects. International Journal of Vehicle Autonomous Systems, 1(1): 1-44.
4. Hebert, M.; Thorpe, C.; and Stentz, A. 1997. Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon University. Dortrecht, The Netherlands: Kluwer Academic Publishers.
5. Kelly, A., and Stentz, A. 1998a. Rough Terrain Autonomous Mobility, Part 1: A Theoretical Analysis of Requirements. Autonomous Robots 5(2): 129-161.
6. Kelly, A., and Stentz, A. 1998b. Rough Terrain Autonomous Mobility, Part 2: An Active Vision, Predictive Control Approach. Autonomous Robots 5(2): 163-198.
7. Montemerlo, M.; Thrun, S.; Dahlkamp, H.; Stavens, D.; and Strohband, S. 2006. Winning the DARPA Grand Challenge with an AI Robot. In Proceedings of the Twenty-First National Conference on Artificial Intelligence. Menlo Park, CA: AAAI Press.
8. Pomerleau, D. 1993. Neural Network Perception for Mobile Robot Guidance. Boston: Kluwer Academic Publishers.
9. Stavens, D., and Thrun, S. 2006. A Self-Supervised Terrain Roughness Estimator for Off-Road Autonomous Driving. Paper presented at the Conference on Uncertainty in AI (UAI), Cambridge, MA, 13-16 July.
10. Thrun, S.; Montemerlo, M.; and Aron, A. 2006. Probabilistic Terrain Analysis for High-Speed Desert Driving. In Proceedings of the Robotics Science and Systems Conference, ed. G. Sukhatme, S. Schaal, W. Burgard, and D. Fox. Cambridge, MA: The MIT Press.
11. Thrun, S.; Montemerlo, M.; Dahlkamp, H.; Stavens, D.; Aron, A.; Diebel, J.; Fong, P.; Gale, J.; Halpenny, M.; Hoffmann, G.; Lau, K.; Oakley, C.; Palatucci, M.; Pratt, V.; Stang, P.; Strohband, S.; Dupont, C.; Jendrossek, L.-E.; Koelen, C.; Markey, C.; Rummel, C.; van Niekerk, J.; Jensen, E.; Alessandrini, P.; Bradski, G.; Davies, B.; Ettinger, S.; Kaehler, A.; Nefian, A.; and Mahoney, P. 2006. Stanley, the Robot That Won the DARPA Grand Challenge. Journal of Field Robotics.
12. Urmson, C.; Anhalt, J.; Clark, M.; Galatali, T.; Gonzalez, J. P.; Gowdy, J.; Gutierrez, A.; Harbaugh, S.; Johnson-Roberson, M.; Kato, H.; Koon, P. L.; Peterson, K.; Smith, B. K.; Spiker, S.; Tryzelaar, E.; and Whittaker, W. L. 2004. High Speed Navigation of Unrehearsed Terrain: Red Team Technology for the Grand Challenge 2004. Technical Report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA.