The DARPA Urban Challenge

Autonomous Vehicles in City Traffic

  • Martin Buehler
  • Karl Iagnemma
  • Sanjiv Singh

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 56)

Table of contents

  1. Front Matter
  2. Chris Urmson, Joshua Anhalt, Drew Bagnell, Christopher Baker, Robert Bittner, M. N. Clark et al.
    Pages 1-59
  3. Dave Ferguson, Thomas M. Howard, Maxim Likhachev
    Pages 61-89
  4. Michael Montemerlo, Jan Becker, Suhrid Bhat, Hendrik Dahlkamp, Dmitri Dolgov, Scott Ettinger et al.
    Pages 91-123
  5. Charles Reinholtz, Dennis Hong, Al Wicks, Andrew Bacha, Cheryl Bauman, Ruel Faruque et al.
    Pages 125-162
  6. John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore et al.
    Pages 163-230
  7. Jon Bohren, Tully Foote, Jim Keller, Alex Kushleyev, Daniel Lee, Alex Stewart et al.
    Pages 231-255
  8. Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline, Pete Moran et al.
    Pages 257-304
  9. Benjamin J. Patz, Yiannis Papelis, Remo Pillat, Gary Stein, Don Harper
    Pages 305-358
  10. Sören Kammel, Julius Ziegler, Benjamin Pitzer, Moritz Werling, Tobias Gindele, Daniel Jagzent et al.
    Pages 359-391
  11. Felix v. Hundelshausen, Michael Himmelsbach, Falk Hecker, Andre Mueller, Hans-Joachim Wuensche
    Pages 393-440
  12. Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus Magnor, Karsten Cornelsen, Jan Effertz et al.
    Pages 441-508
  13. Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How et al.
    Pages 509-548
  14. J. R. McBride, J. C. Ivan, D. S. Rhode, J. D. Rupp, M. Y. Rupp, J. D. Higgins et al.
    Pages 549-593
  15. Yi-Liang Chen, Venkataraman Sundareswaran, Craig Anderson, Alberto Broggi, Paolo Grisleri, Pier Paolo Porta et al.
    Pages 595-622
  16. Back Matter

About this book


This volume, edited by Martin Buehler, Karl Iagnemma and Sanjiv Singh, presents a unique and comprehensive collection of the scientific results obtained by finalist teams that participated in the DARPA Urban Challenge in November 2007, in the mock city environment of the George Air Force base in Victorville, California. This book is the companion of a previous volume by the same editors which was devoted to the Grand Challenge, which took place in the Nevada desert during October 2005, and was the second in the series of autonomous vehicle races sponsored by DARPA.

The Urban Challenge demonstrated how cutting-edge perception, control, and motion planning techniques can allow intelligent autonomous vehicles not only to travel significant distances in off-road terrain, but also to operate in urban scenarios. Beyond the value for future military applications--which motivated DARPA to sponsor the race--the expected impact in the commercial sector for automotive manufacturers is equally, if not more, important: autonomous sensing and control constitute key technologies for vehicles of the future, and might help save thousands of lives that are now lost in traffic accidents.

As with the previous STAR volume, the original papers collected in this book were initially published in special issues of the Journal of Field Robotics. Our series is proud to collect them in an archival publication as a special STAR volume!


accident autonom autonomous system motion planning robot robotics sensing

Editors and affiliations

  • Martin Buehler
    • 1
  • Karl Iagnemma
    • 2
  • Sanjiv Singh
    • 3
  1. 1.iRobot CorporationBedfordUSA
  2. 2.Department of Mechanical EngineeringMassachusetts Institute of TechnologyCambridgeUSA
  3. 3.Robotics InstituteCarnegie Mellon UniversityPittsburghUSA

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2009
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-03990-4
  • Online ISBN 978-3-642-03991-1
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site