The DARPA Urban Challenge pp 91-123

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

Junior: The Stanford Entry in the Urban Challenge

  • Michael Montemerlo
  • Jan Becker
  • Suhrid Bhat
  • Hendrik Dahlkamp
  • Dmitri Dolgov
  • Scott Ettinger
  • Dirk Haehnel
  • Tim Hilden
  • Gabe Hoffmann
  • Burkhard Huhnke
  • Doug Johnston
  • Stefan Klumpp
  • Dirk Langer
  • Anthony Levandowski
  • Jesse Levinson
  • Julien Marcil
  • David Orenstein
  • Johannes Paefgen
  • Isaac Penny
  • Anna Petrovskaya
  • Mike Pflueger
  • Ganymed Stanek
  • David Stavens
  • Antone Vogt
  • Sebastian Thrun

Abstract

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in the DARPA Urban Challenge, a robot competition organized by the U.S. Government.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Michael Montemerlo
    • 1
  • Jan Becker
    • 4
  • Suhrid Bhat
    • 2
  • Hendrik Dahlkamp
    • 1
  • Dmitri Dolgov
    • 1
  • Scott Ettinger
    • 3
  • Dirk Haehnel
    • 1
  • Tim Hilden
    • 2
  • Gabe Hoffmann
    • 1
  • Burkhard Huhnke
    • 2
  • Doug Johnston
    • 1
  • Stefan Klumpp
    • 2
  • Dirk Langer
    • 2
  • Anthony Levandowski
    • 1
  • Jesse Levinson
    • 1
  • Julien Marcil
    • 2
  • David Orenstein
    • 1
  • Johannes Paefgen
    • 1
  • Isaac Penny
    • 1
  • Anna Petrovskaya
    • 1
  • Mike Pflueger
    • 2
  • Ganymed Stanek
    • 2
  • David Stavens
    • 1
  • Antone Vogt
    • 1
  • Sebastian Thrun
    • 1
  1. 1.Stanford Artificial Intelligence LabStanford UniversityStanford
  2. 2.Electronics Research LabVolkswagen of AmericaPalo Alto
  3. 3.Intel ResearchSanta Clara
  4. 4.Robert Bosch LLCResearch and Technology CenterPalo Alto

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