Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge by Campbell, Stefan F. (Stefan Forrest)

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A High-Rate, Heterogeneous Data Set from the Darpa Urban Challenge by Huang, Albert S., Olson, Edwin B., Antone, Matthew, Fletcher, Luke Sebastian, Moore, David C., Teller, Seth, Leonard, John Joseph

“…This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high-precision navigation system, five cameras, 12 SICK planar laser range scanners, and a Velodyne high-density laser range scanner were synchronized and logged to disk for 90 km of travel. …”
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Real-Time Motion Planning With Applications to Autonomous Urban Driving by Kuwata, Yoshiaki, Teo, Justing, Fiore, Gaston A., Karaman, Sertac, Frazzoli, Emilio, How, Jonathan P.

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The MIT – Cornell Collision and Why It Happened by Fletcher, Luke Sebastian, Teller, Seth, Olson, Edwin B., Moore, David C., Kuwata, Yoshiaki, How, Jonathan P., Leonard, John Joseph, Miller, Isaac, Campbell, Mark, Huttenlocher, Dan, Nathan, Aaron, Kline, Frank-Robert

“…Mid-way through the 2007 DARPA Urban Challenge, MIT’s autonomous Land Rover LR3 ‘Talos’ and Team Cornell’s autonomous Chevrolet Tahoe ‘Skynet’ collided in a low-speed accident, one of the first well-documented collisions between two full-size autonomous vehicles. …”
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Design of a minimalist autonomous robotic vehicle by Spadafora, Mark (Mark A.)

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Simultaneous local and global state estimation for robotic navigation by Moore, David C., Huang, Albert S., Walter, Matthew R., Olson, Edwin B., Fletcher, Luke Sebastian, Leonard, John Joseph, Teller, Seth

“…We describe the implementation of this coordinate frame and its properties when measuring uncertainty, and show the results of applying this approach to our 2007 DARPA Urban Challenge vehicle.…”
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A General Purpose Feature Extractor for Light Detection and Ranging Data by Edwin B. Olson, Yangming Li

“…We present results on both software simulation and standard datasets, including the 2D Victoria Park and Intel Research Center datasets, and the 3D MIT DARPA Urban Challenge dataset.…”
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Team MIT Urban Challenge Technical Report by Leonard, John, Barrett, David, How, Jonathan, Teller, Seth, Antone, Matt, Campbell, Stefan, Epstein, Alex, Fiore, Gaston, Fletcher, Luke, Frazzoli, Emilio, Huang, Albert, Jones, Troy, Koch, Olivier, Kuwata, Yoshiaki, Mahelona, Keoni, Moore, David, Moyer, Katy, Olson, Edwin, Peters, Steven, Sanders, Chris, Teo, Justin, Walter, Matthew

“…This technical report describes Team MIT’s approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-­modal calibrationtechnique. …”
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A robust motion planning approach for autonomous driving in urban areas by Fiore, Gaston A

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Vision-based guidance and control of a hovering vehicle in unknown environments by Ahrens, Spencer Greg

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Finding Multiple Lanes in Urban Road Networks with Vision and Lidar by Huang, Albert S., Moore, David C., Antone, Matthew, Olson, Edwin B., Teller, Seth

“…We analyze the system’s performance in the context of the 2007 DARPA Urban Challenge. With five cameras and thirteen lidars, our method was incorporated into a closed-loop controller to successfully guide an autonomous vehicle through a 90 km urban course at speeds up to 40 km/h amidst moving traffic.…”
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Fully automatic calibration of LIDAR and video streams from a vehicle by Bileschi, Stanley M.

“…The calibration algorithm is tested empirically using free online data supplied as part of the DARPA Urban Challenge autonomous vehicle competition. Experiments are performed to illustrate the stability, and computation cost of the algorithm.…”
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Real-Time Motion Planning With Applications to Autonomous Urban Driving by Kuwata, Yoshiaki, Teo, Justin, Fiore, Gaston A., Karaman, Sertac, Frazzoli, Emilio, How, Jonathan P.

“…The proposed algorithm was at the core of the planning and control software for Team MIT's entry for the 2007 DARPA Urban Challenge, where the vehicle demonstrated the ability to complete a 60 mile simulated military supply mission, while safely interacting with other autonomous and human driven vehicles.…”
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Over 60,000 km in a year: remotely collecting large-volume high-quality data from a logistics truck by Christian Berger, Arpit Karsolia, Federico Giaimo, Ola Benderius

“…Abstract After the first successful large-scale demonstration of eleven self-driving vehicles at the DARPA Urban Challenge in 2007, research results from the competing teams found their way into advanced driver systems (ADAS) that support typical driving tasks like adaptive cruise control and semi-automated parking. …”
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Lane estimation for autonomous vehicles using vision and LIDAR by Huang, Albert Shuyu

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