Prospect Eleven: Princeton University's entry in the 2005 DARPA Grand Challenge

Atreya, Anand R., Cattle, Bryan C., Collins, Brendan M., Essenburg, Benjamin, Franken, Gordon H., Saxe, Andrew M., Schiffres, Scott N. and Kornhauser, Alain L. (2006) Prospect Eleven: Princeton University's entry in the 2005 DARPA Grand Challenge. Journal of Field Robotics, 23 9: 745-753. doi:10.1002/rob.20141


Author Atreya, Anand R.
Cattle, Bryan C.
Collins, Brendan M.
Essenburg, Benjamin
Franken, Gordon H.
Saxe, Andrew M.
Schiffres, Scott N.
Kornhauser, Alain L.
Title Prospect Eleven: Princeton University's entry in the 2005 DARPA Grand Challenge
Journal name Journal of Field Robotics   Check publisher's open access policy
ISSN 1556-4959
Publication date 2006
Sub-type Article (original research)
DOI 10.1002/rob.20141
Volume 23
Issue 9
Start page 745
End page 753
Total pages 9
Language eng
Subject 1706 Computer Science Applications
2207 Control and Systems Engineering
Abstract This paper describes Princeton University's approach to the 2005 DARPA Grand Challenge, an off-road race for fully autonomous ground vehicles. The system, Prospect Eleven, takes a simple approach to address the problems posed by the Grand Challenge, including obstacle detection, path planning, and extended operation in harsh environments. Obstacles are detected using stereo vision, and tracked in the time domain to improve accuracy in localization and reduce false positives. The navigation system processes a geometric representation of the world to identify passable regions in the terrain ahead, and the vehicle is controlled to drive through these regions. Performance of the system is evaluated both during the Grand Challenge and in subsequent desert testing. The vehicle completed 9.3 miles of the course on race day, and extensive portions of the 2004 and 2005 Grand Challenge courses in later tests.
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Journal Article
Sub-type: Article (original research)
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Citation counts: TR Web of Science Citation Count  Cited 3 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 3 times in Scopus Article | Citations
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Created: Fri, 15 May 2015, 19:00:24 EST by System User