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Stanley: The Robot that Won the DARPA Grand Challenge
S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney
Journal of Field Robotics, Vol. 23, No. 9, June, 2006, pp. 661-692.

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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.

S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, K. Lau, C. Oakley, M. Palatucci, V. Pratt, P. Stang, S. Strohband, C. Dupont, L. Jendrossek, C. Koelen, C. Markey, C. Rummel, J. van Niekerk, E. Jensen, P. Alessandrini, G. Bradski, B. Davies, S. Ettinger, A. Kaehler, A. Nefian, and P. Mahoney, "Stanley: The Robot that Won the DARPA Grand Challenge," Journal of Field Robotics, Vol. 23, No. 9, June, 2006, pp. 661-692.

@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",
   title = "Stanley: The Robot that Won the DARPA Grand Challenge",
   journal = "Journal of Field Robotics",
   month = "June",
   year = "2006",
   volume = "23",
   number = "9",
   pages = "661-692"
}