Stanley: The robot that won the DARPA Grand Challenge
Sebastian Thrun(Stanford University), Mike Montemerlo(Stanford University), Hendrik Dahlkamp(Stanford University), David Stavens(Stanford University), Andrei Aron(Stanford University), James Diebel(Stanford University), Philip Fong(Stanford University), John T. Gale(Stanford University), Morgan Halpenny(Stanford University), Gabriel Hoffmann(Stanford University), Kenny Lau(Stanford University), Celia M. Oakley(Stanford University), Mark Palatucci(Stanford University), Vaughan Pratt(Stanford University), Pascal Stang(Stanford University), Sven Strohband(Volkswagen Group (United States)), Cédric Dupont(Volkswagen Group (United States)), Lars‐Erik Jendrossek(Volkswagen Group (United States)), Christian Koelen(Volkswagen Group (United States)), Charles Markey(Volkswagen Group (United States)), Carlo Rummel(Volkswagen Group (United States)), Joe van Niekerk(Volkswagen Group (United States)), Eric L. N. Jensen(Volkswagen Group (United States)), Philippe Alessandrini(Volkswagen Group (United States)), Gary Bradski(Intel (United States)), Bob Davies(Intel (United States)), Scott Ettinger(Intel (United States)), Adrian Kaehler(Intel (United States)), Ara Nefian(Intel (United States)), Pamela Mahoney
Cited by 2,109Open Access
Abstract
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'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. © 2006 Wiley Periodicals, Inc.
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