Team Cornell's Skynet: Robust perception and planning in an urban environment

Authors:
Isaac Miller;Mark Campbell;Dan Huttenlocher;Frank-Robert Kline;Aaron Nathan;Sergei Lupashin;Jason Catlin;Brian Schimpf;Pete Moran;Noah Zych;Ephrahim Garcia;Mike Kurdziel;Hikaru Fujishima
Affiliations:
Sibley School of Mechanical and Aerospace Engineering;Sibley School of Mechanical and Aerospace Engineering;Computer Science Department;Computer Science Department;School of Electrical and Computer Engineering;School of Electrical and Computer Engineering;School of Electrical and Computer Engineering;School of Operations Research and Information Engineering;Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853;Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853;Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853;Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853;Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, New York 14853
Venue:
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Year:
2008

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Abstract

Team Cornell's Skynet is an autonomous Chevrolet Tahoe built to compete in the 2007 DARPA Urban Challenge. Skynet consists of many unique subsystems, including actuation and power distribution designed in-house, a tightly coupled attitude and position estimator, a novel obstacle detection and tracking system, a system for augmenting position estimates with vision-based detection algorithms, a path planner based on physical vehicle constraints and a nonlinear optimization routine, and a state-based reasoning agent for obeying traffic laws. This paper describes these subsystems in detail before discussing the system's overall performance in the National Qualifying Event and the Urban Challenge. Logged data recorded at the National Qualifying Event and the Urban Challenge are presented and used to analyze the system's performance. © 2008 Wiley Periodicals, Inc.