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Urban Challenge
This project is no longer active.
Head: William (Red) L. Whittaker
Contact: Christopher Urmson
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Field Robotics Center (FRC)
Project Homepage
Publications
  • Obstacle Detection and Tracking for the Urban Challenge

    Michael Darms, Paul Rybski, Christopher R. Baker, and Christopher Urmson
    IEEE Transactions on Intelligent Transportation Systems, Vol. 10, No. 3, September, 2009, pp. 475-485.
    Details | pdf (378KB) | Copyrighted

  • 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.
    Details | pdf (6MB) | Copyrighted

  • Traffic Interaction in the Urban Challenge: Putting Boss on its Best Behavior

    Christopher R. Baker and John M. Dolan
    International Conference on Intelligent Robots and Systems (IROS 2008), September, 2008, pp. 1752-1758.
    Details | pdf (382KB) | Copyrighted

  • Motion Planning in Urban Environments: Part II

    David Ferguson , Thomas Howard, and Maxim Likhachev
    Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (903KB) | Copyrighted

  • Motion Planning in Urban Environments: Part I

    David Ferguson , Thomas Howard, and Maxim Likhachev
    Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • Fast Feature Detection and Stochastic Parameter Estimation of Road Shape using Multiple LIDAR

    Kevin Peterson, Jason Ziglar, and Paul Rybski
    IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • A perception mechanism for supporting autonomous intersection handling in urban driving

    Young-Woo Seo and Christopher Urmson
    Proceedings of IEEE International Conference Intelligent Robots and Systems, September, 2008.
    Details | pdf (458KB) | Copyrighted

  • A Multisensor Multiobject Tracking System for an Autonomous Vehicle Driving in an Urban Environment

    Michael Darms, Paul Rybski, and Christopher Urmson
    AVEC 2008 - 9th International Symposium on Advanced Vehicle Control, September, 2008.
    Details | pdf (2MB) | Copyrighted

  • Robust Mission Execution for Autonomous Urban Driving

    Christopher R. Baker, David Ferguson , and John M. Dolan
    10th International Conference on Intelligent Autonomous Systems (IAS 2008), July, 2008, pp. 155-163.
    Details | pdf (236KB) | Copyrighted

  • State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments

    Thomas Howard, Colin Green, David Ferguson , and Alonzo Kelly
    Journal of Field Robotics, Vol. 25, No. 6-7, June, 2008, pp. 325-345.
    Details | pdf (922KB) | Copyrighted

  • Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments

    David Ferguson , Michael Darms, Christopher Urmson, and Sascha Kolski
    Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1149-1154.
    Details | pdf (1MB) | Copyrighted

  • Classification and tracking of dynamic objects with multiple sensors for autonomous driving in urban environments.

    Michael Darms, Paul Rybski, and Christopher Urmson
    Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1197-1202.
    Details | pdf (530KB) | Copyrighted

  • Autonomous driving in urban environments: Boss and the Urban Challenge

    Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor , William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang, and Jason Ziglar
    Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, June, 2008, pp. 425-466.
    Details | pdf (1MB) | Copyrighted

  • A Reasoning Framework for Autonomous Urban Driving

    David Ferguson , Christopher R. Baker, Maxim Likhachev, and John M. Dolan
    Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), June, 2008, pp. 775-780.
    Details | pdf (1MB) | Copyrighted

  • Self-Driving Cars and the Urban Challenge

    Christopher Urmson and William (Red) L. Whittaker
    IEEE Intelligent Systems, Vol. 23, No. 2, April, 2008, pp. 66-68.
    Details

  • An adaptive model switching approach for a multisensor tracking system used for autonomous driving in an urban environment

    Michael Darms, Paul Rybski, and Christopher Urmson
    AUTOREG 2008, Steuerung und Regelung von Fahrzeugen und Motoren: 4. Fachtagung, March, 2008, pp. 521-530.
    Details | pdf (2MB) | Copyrighted

  • Software Infrastructure for an Autonomous Ground Vehicle

    Matthew McNaughton, Christopher R. Baker, Tugrul Galatali, Bryan Salesky, Christopher Urmson, and Jason Ziglar
    Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 12, December, 2008, pp. 491 - 505.
    Details | pdf (899KB) | Copyrighted

  • Vehicle detection and tracking for the Urban Challenge

    Michael Darms, Christopher R. Baker, Paul Rybski, and Christopher Urmson
    5. Workshop Fahrerassistenzsysteme, M. Maurer & C. Stiller, ed., Freundeskreis Mess- und Regelungstechnik Karlsruhe e.V. (FMRT), 2008, pp. 57-67.
    Details | pdf (142KB) | Copyrighted

  • Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge

    Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker, and Jason Ziglar
    tech. report CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, April, 2007
    Details | pdf (4MB) | Copyrighted