Path diversity is only part of the problem
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vehicle 3D localization in mountainous woodland environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Accurate hardware-based stereo vision
Computer Vision and Image Understanding
Adaptive navigation for autonomous robots
Robotics and Autonomous Systems
Stereo matching using weighted dynamic programming on a single-direction four-connected tree
Computer Vision and Image Understanding
The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system
Journal of Field Robotics
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This paper describes "Little Ben," an autonomous ground vehicleconstructed by the Ben Franklin Racing Team for the 2007 DARPAUrban Challenge in under a year and for less than $250,000. Thesensing, planning, navigation, and actuation systems for Little Benwere carefully designed to meet the performance demands required ofan autonomous vehicle traveling in an uncertain urban environment.We incorporated an array of a global positioning system(GPS)-inertial navigation system, LIDARs, and stereo cameras toprovide timely information about the surrounding environment at theappropriate ranges. This sensor information was integrated into adynamic map that could robustly handle GPS dropouts and errors. Ourplanning algorithms consisted of a high-level mission planner thatused information from the provided route network definition andmission data files to select routes, whereas the lower levelplanner used the latest dynamic map information to optimize afeasible trajectory to the next waypoint. The vehicle was actuatedby a cost-based controller that efficiently handled steering,throttle, and braking maneuvers in both forward and reversedirections. Our software modules were integrated within ahierarchical architecture that allowed rapid development andtesting of the system performance. The resulting vehicle was one ofsix to successfully finish the Urban Challenge. © 2008 WileyPeriodicals, Inc.