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)
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)
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