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Autonomous driving in urban environments: Boss and the Urban Challenge
This dissertation aims to provide a history of web exceptionalism from 1989 to 2002, a period chosen in order to explore its roots as well as specific cases up to and including the year in which descriptions of “Web 2.0” began to circulate.
Traffic light mapping and detection
Methods for automatically mapping the three dimensional positions of traffic lights and robustly detecting traffic light state onboard cars with cameras are presented.
Approaches for heuristically biasing RRT growth
This paper presents several modifications to the basic rapidly-exploring random tree (RRT) search algorithm to utilize a heuristic quality function to guide the search.
Motion planning for autonomous driving with a conformal spatiotemporal lattice
- M. McNaughton, C. Urmson, J. Dolan, Jin-Woo Lee
- Computer ScienceIEEE International Conference on Robotics and…
- 9 May 2011
A search space representation is presented that allows the search algorithm to systematically and efficiently explore both spatial and temporal dimensions in real time and allows the low-level trajectory planner to assume greater responsibility in planning to follow a leading vehicle, perform lane changes, and merge between other vehicles.
GRACE: An Autonomous Robot for the AAAI Robot Challenge
This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.
Obstacle Detection and Tracking for the Urban Challenge
- M. Darms, P. Rybski, Christopher R. Baker, C. Urmson
- Computer ScienceIEEE Transactions on Intelligent Transportation…
- 1 September 2009
The obstacle detection and tracking algorithms developed for Boss, which is Carnegie Mellon University 's winning entry in the 2007 DARPA Urban Challenge, are described and shown how it functions in the context of the larger perception system.
Moving object detection with laser scanners
The CMU‐RI Navlab group has developed a system that uses a laser scanner as its primary sensor and its use in several applications vary from collision warning systems, people classification, observing human tracks, and input to a dynamic planner.
Tartan Racing: A multi-modal approach to the DARPA Urban Challenge
The system described in the paper exhibits a majority of the basic navigation and traffic skills required for the Urban Challenge, and from these building blocks more advanced capabilities will quickly develop.
A robust approach to high‐speed navigation for unrehearsed desert terrain
A robust approach to navigating at high speed across desert terrain using a combination of LIDAR and RADAR based perception sensors and a human‐based preplanning system to improve reliability and robustness is presented.
Local Buckling Analysis of Longitudinal Reinforcing Bars
The local buckling behavior of longitudinal reinforcing steel, which occurs between two transverse hoops, is examined using rational mechanics, taking into account the full plastic behavior of the…