Campbell, Mark and Egerstedt, Magnus and How, Jonathan P. and Murray, Richard M. (2010) Autonomous driving in urban environments: approaches, lessons and challenges. Philosophical Transactions of the Royal Society of London. Series A, Mathematical, Physical, and Engineering Sciences, 368 (1928). pp. 4649-4672. ISSN 1364-503X http://resolver.caltech.edu/CaltechAUTHORS:20101029-082222753
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The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long-term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.
|Additional Information:||© 2010 The Royal Society. One contribution of 10 to a Theme Issue ‘Traffic jams: dynamics and control’. Much of the work described in this paper was supported by the US Defense Advanced Research Projects Agency (DARPA), under the DARPA Grand Challenge programme (Norm Whitaker, programme manager). R.M.M. would also like to acknowledge support from the US Air Force Office of Scientific Research (AFOSR) and the Boeing Corporation. J.P.H. would also like to acknowledge support from AFOSR (FA9550-08-1-0086). M.C. would like to acknowledge support from AFOSR (FA9550-05-1-0118).|
|Subject Keywords:||autonomous driving; robotics; intelligent transportation|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Ruth Sustaita|
|Deposited On:||29 Oct 2010 15:45|
|Last Modified:||26 Dec 2012 12:34|
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