Stanley: The robot that won the DARPA Grand Challenge
Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James R. Diebel, Philip W. L. Fong, John T. Gale, Morgan Halpenny, Gabriel M. Hoffmann, Kenny Lau, Celia M. Oakley, Mark Palatucci, Vaughan Pratt, Pascal P. Stang, Sven Strohband, Cédric Dupont, Lars‐Erik Jendrossek, Christian Koelen, Charles Markey · Journal of Field Robotics · 2006
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.