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Stanley: The Robot That Won the DARPA Grand Challenge

2007; Springer Nature; Linguagem: Inglês

10.1007/978-3-540-73429-1_1

1610-742X

Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John T. Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia M. Oakley, Mark Palatucci, Vaughan Pratt, Pascal Stang, Sven Strohband, Cedric Dupont, Lars‐Erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe van Niekerk, Eric L. N. Jensen, Philippe Alessandrini, Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, Ara Nefian, Pamela Mahoney,

Robotics and Sensor-Based Localization

This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without human intervention. The robot’s software system relied predominately on state-of-the-art AI technologies, such as machine learning and probabilistic reasoning. This article describes the major components of this architecture, and discusses the results of the Grand Challenge race.