Stanley, the robot that won the DARPA Grand Challenge

Sebastian Thrun, Mike 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

This article describes the robot Stanley, which won the 2005 DARPA Grand Challenge. Stanley was developed for high-speed desert driving without human intervention. The robot's software system relied predominately on state-of-the-art AI technologies, such as machine learning and probabilistic reasoning. This article describes the major components of this architecture, and discusses the results of the Grand Challenge race.

The full paper is available in PDF

Bibtex Entry:

@ARTICLE{Thrun06,
  AUTHOR	= {S. Thrun and M. Montemerlo and H. Dahlkamp and D. Stavens and 
                   A. Aron and J. Diebel and P. Fong and J. Gale and M. 
                   Halpenny and G. Hoffmann and K. Lau and C. Oakley and 
                   M. Palatucci and V. Pratt and P. Stang  and S. Strohband 
                   and C. Dupont and L.-E. Jendrossek and C. Koelen and 
                   C. Markey and C. Rummel and J. van Niekerk and E. Jensen 
                   and P. Alessandrini and G. Bradski and B. Davies and 
                   S. Ettinger and A. Kaehler and A. Nefian and P. Mahoney},
  TITLE		= {Winning the DARPA Grand Challenge},
  JOURNAL	= {Journal of Field Robotics},
  YEAR		= {2006},
  NOTE          = {accepted for publication}
}