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)
DISCLAIMER: The information contained in this paper does not represent the official policies, either expressed or implied, of the Defense Advanced Research Projects Agency (DARPA) or the Department of Defense. DARPA does not guarantee the accuracy or reliability of the information in this paper. ABSTRACT Team Gray has approached the 2005 DARPA Grand(More)
Executive Summary It is the opinion of Team Gray that the Urban Challenge poses primarily a software engineering problem, since the individual hardware components needed for the Urban Challenge already exist in the commercial sector. These hardware components need to be reliably integrated with custom software logic to achieve the goals of the Urban(More)
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