Stanley: The robot that won the DARPA Grand Challenge: Research Articles

  • Authors:

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

  • Affiliations:

  • Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Stanford Artificial Intelligence Laboratory, Stanford University, Stanford, California 94305;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Volkswagen of America, Inc., Electronics Research Laboratory, 4009 Miranda Avenue, Suite 100, Palo Alto, California 94304;Intel Research, 2200 Mission College Boulevard, Santa Clara, California 95052;Intel Research, 2200 Mission College Boulevard, Santa Clara, California 95052;Intel Research, 2200 Mission College Boulevard, Santa Clara, California 95052;Intel Research, 2200 Mission College Boulevard, Santa Clara, California 95052;Intel Research, 2200 Mission College Boulevard, Santa Clara, California 95052;Mohr Davidow Ventures, 3000 Sand Hill Road, Bldg. 3, Suite 290, Menlo Park, California 94025

  • Venue:
  • Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
  • Year:
  • 2006

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Abstract

This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without manual intervention. The robot's software system relied predominately on state-of-the-art artificial intelligence technologies, such as machine learning and probabilistic reasoning. This paper describes the major components of this architecture, and discusses the results of the Grand Challenge race. © 2006 Wiley Periodicals, Inc.