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Autonomous driving in urban environments: Boss and the Urban Challenge
TLDR
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.
Conditional particle filters for simultaneous mobile robot localization and people-tracking
Presents a probabilistic algorithm for simultaneously estimating the pose of a mobile robot and the positions of nearby people in a previously mapped environment. This approach, called the
Analytical configuration of wheeled robotic locomotion
Through their ability to navigate and perform tasks in unstructured environments, robots have made their way into applications like farming, earth moving, waste clean-up and exploration. All mobile
A system for volumetric robotic mapping of abandoned mines
TLDR
To build consistent maps of large mines with many cycles, an algorithm for estimating global correspondences and aligning robot paths is described, which enables us to recover consistent maps several hundreds of meters in diameter, without odometric information.
Autonomous exploration and mapping of abandoned mines
TLDR
The software architecture of an autonomous robotic system designed to explore and map abandoned mines and some of the challenges that arise in the subterranean environments and some the difficulties of building truly autonomous robots are discussed.
Tartan Racing: A multi-modal approach to the DARPA Urban Challenge
TLDR
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.
First Results in Robot Road-Following
TLDR
The new Carnegie Mellon Autonomous I and Vehicle group has produced the first demonstrations of road following robots, and the vision system of the CMU ALV is described, including a simple and stable control scheme for visual servoing.
Recent developments in subterranean robotics
TLDR
The challenges, mechanisms, sensing, and software of subterranean robots are presented and results obtained from operations in active, abandoned, and submerged subterranean spaces are shown.
Autonomous Driving in Traffic: Boss and the Urban Challenge
TLDR
Boss, the autonomous vehicle that won the DARPA Urban Challenge, is introduced, the complex artificially intelligent software system embodied in a 2007 Chevy Tahoe that builds a model of the world around it in real time.
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