Paul G. Trepagnier

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Kat-5 was the fourth vehicle to make history in DARPA’s 2005 Grand Challenge, where for the first time ever, autonomous vehicles were able to travel through 100 miles of rough terrain at average speeds greater than 15 mph. In this paper, we describe the mechanisms and methods that were used to develop the vehicle. We describe the main hardware systems with(More)
Kat-5 was the fourth vehicle to successfully finish the DARPA 2005 Grand Challenge; the first time ever that autonomous vehicles were able to successfully complete such a task. In this paper, we describe the methods that were used to develop the vehicle's path planning and obstacle avoidance algorithms, which allowed Kat-5 to successfully navigate(More)
Team Gray has addressed many of these concerns in the design of its Autonomous Vehicle System (AVS). The GrayMatter AVS is a commercially available autonomous vehicle platform designed as a generic framework for a variety of autonomous vehicle applications. The AVS provides significant improvements in the user interface, system reliability, and performance,(More)
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