Stanley: The Robot that Won the DARPA Grand Challenge

Sebastian Thrun, Michael 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, and Pamela Mahoney
Journal of Field Robotics, Vol. 23, No. 9, July, 2006, pp. 661-692.


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? 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.

Notes

Text Reference
Sebastian Thrun, Michael 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, and Pamela Mahoney, "Stanley: The Robot that Won the DARPA Grand Challenge," Journal of Field Robotics, Vol. 23, No. 9, July, 2006, pp. 661-692.

BibTeX Reference
@article{Thrun_2006_6050,
   author = "Sebastian Thrun and Michael Montemerlo and Hendrik Dahlkamp and David Stavens and Andrei Aron and James Diebel and Philip Fong and John Gale and Morgan Halpenny and Gabriel Hoffmann and Kenny Lau and Celia Oakley and Mark Palatucci and Vaughan Pratt and Pascal Stang and Sven Strohband and Cedric Dupont and Lars-Erik Jendrossek and Christian Koelen and Charles Markey and Carlo Rummel and Joe van Niekerk and Eric Jensen and Philippe Alessandrini and Gary Bradski and Bob Davies and Scott Ettinger and Adrian Kaehler and Ara Nefian and Pamela Mahoney",
   editor = "Wiley Periodicals",
   title = "Stanley: The Robot that Won the DARPA Grand Challenge",
   journal = "Journal of Field Robotics",
   pages = "661-692",
   month = "July",
   year = "2006",
   volume = "23",
   number = "9",
}