Autonomous Driving in Traffic: Boss and the Urban Challenge

Christopher Urmson, Christopher R. Baker , John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson , and Michael Darms
AI Magazine, Vol. 30, No. 2, June, 2009, pp. 17-29.


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Abstract
The DARPA Urban Challenge was a competition to develop autonomous vehicles capable of safely, reliably, and robustly driving in traffic. In this article we introduce Boss, the autonomous vehicle that won the challenge. Boss is a complex artificially intelligent software system embodied in a 2007 Chevy Tahoe. To navigate safely, the vehicle builds a model of the world around it in real time. This model is used to generate safe routes and motion plans both on roads and in unstructured zones. An essential part of Boss's success stems from its ability to safely handle both abnormal situations and system glitches.

Notes
Sponsor: DARPA
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Tartan Racing and Urban Challenge
Number of pages: 12

Text Reference
Christopher Urmson, Christopher R. Baker , John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson , and Michael Darms, "Autonomous Driving in Traffic: Boss and the Urban Challenge ," AI Magazine, Vol. 30, No. 2, June, 2009, pp. 17-29.

BibTeX Reference
@article{Urmson_2009_6617,
   author = "Christopher Urmson and Christopher R. {Baker } and John M Dolan and Paul Rybski and Bryan Salesky and William (Red) L. Whittaker and David {Ferguson } and Michael Darms",
   title = "Autonomous Driving in Traffic: Boss and the Urban Challenge ",
   journal = "AI Magazine",
   pages = "17-29",
   publisher = "Association for the Advancement of Artificial Intelligence",
   month = "June",
   year = "2009",
   volume = "30",
   number = "2",
}