Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments

Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis, and Randon Warner
The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483.


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Abstract
The DARPA PerceptOR program has implemented a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles were deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications bandwidth. Our efforts over the three year program have produced new approaches in planning, perception, localization, and control which have been driven by the quest for reliable operation in challenging environments. This paper focuses on some of the most unique aspects of the systems developed by the CMU PerceptOR team, the lessons learned during the effort, and the most immediate challenges that remain to be addressed.

(The final, definitive version of this paper has been published in The International Journal of Robotics Research, Vol 25, No.5-6, May 2006, by Sage Publications Ltd, All rights reserved. C SAGE Publications Ltd, 2006. It is available at: http://ijr.sagepub.com/cgi/content/abstract/25/5-6/449)


Keywords
autonomous mobility, mobile robot, unmanned ground vehicle, UGV, UAV, obstacle avoidance, motion planning, ladar, stereo

Notes
Sponsor: DARPA
Associated Center(s) / Consortia: National Robotics Engineering Center
Associated Project(s): PerceptOR
Number of pages: 36

Text Reference
Alonzo Kelly, Anthony (Tony) Stentz, Omead Amidi, Michael W. Bode, David Bradley, Antonio Diaz-Calderon, Michael Happold, Herman Herman, Robert Mandelbaum, Thomas Pilarski, Peter Rander, Scott Thayer, Nicholas M. Vallidis, and Randon Warner, "Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments," The International Journal of Robotics Research, Vol. 25, No. 5-6, May, 2006, pp. 449-483.

BibTeX Reference
@article{Kelly_2006_5976,
   author = "Alonzo Kelly and Anthony (Tony) Stentz and Omead Amidi and Michael W Bode and David Bradley and Antonio Diaz-Calderon and Michael Happold and Herman Herman and Robert Mandelbaum and Thomas Pilarski and Peter Rander and Scott Thayer and Nicholas M Vallidis and Randon Warner",
   title = "Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments",
   journal = "The International Journal of Robotics Research",
   pages = "449-483",
   month = "May",
   year = "2006",
   volume = "25",
   number = "5-6",
}