Global ETD Search
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Showing 1 to 15 of 15 for “"urban challenge"”.
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Steering control of an autonomous ground vehicle with application to the DARPA Urban Challenge
Fundamental to the design of an Ackerman steered autonomous ground vehicle is the development of a low-level controller that effectively performs trajectory or path tracking. Though ample literature is available on various methods for controlling ground vehicles, little information is presented on …
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Development of an Automotive Ground Vehicle Platform for Autonomous Urban Operations
… such as those found in the 2007 DARPA Urban Challenge, require a reliable and capable vehicle platform. To meet this requirement, an autonomous ground vehicle platform based on a 2005 Ford Escape Hybrid was developed for operations in urban environments. The vehicle conversion, dubbed …
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A Portable Approach to High-Level Behavioral Programming for Complex Autonomous Robot Applications
… field. Two good examples of this are the DARPA Urban Challenge autonomous vehicle race and the RoboCup robot soccer competition. In these challenges, a mobile robot must be capable of completing complex, sophisticated tasks in a dynamic, partially observable and unpredictable environment. Such …
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Design of a minimalist autonomous robotic vehicle
… builds on prior work performed by the MIT DARPA Urban Challenge team, which competed in the national DARPA Urban Challenge NQE and UCE events in October and November 2007. The MIT team pursued an ambitious design that was rich in both sensors and computation. The excessive amount of equipment and …
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A Proposed Standardized Testing Procedure for Autonomous Ground Vehicles
… Advanced Research Projects Agency held the Urban Challenge to drive the development of autonomous ground vehicles for military use. This event required vehicles built by teams across the world to autonomously navigate a 60 mile course in an urban environment in less than 6 hours. This thesis …
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A Localization Solution for an Autonomous Vehicle in an Urban Environment
… complex, so does the localization problem. The urban environment is a prime example of a situation in which a vehicle's surroundings complicate the problem of position estimation. The urban setting is marked by tall structures, overpasses, and tunnels. Each of these can corrupt GPS satellite …
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A robust motion planning approach for autonomous driving in urban areas
… of the Robust RRT algorithm for planning in an urban environment is demonstrated through numerous simulated scenarios and real data corresponding to its implementation in MIT's robotic vehicle that competed in the DARPA Urban Challenge.
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Vision-based guidance and control of a hovering vehicle in unknown environments
… preliminary results integrating the MIT Darpa Urban Challenge planner for high-level control. The RAVEN testbed is successfully employed as a prototyping facility for rapid development of these algorithms using emulated inertial data and offboard processing as a precursor to embedded …
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Real-Time Forward Urban Environment Perception for an Autonomous Ground Vehicle Using Computer Vision and LIDAR
… with this mandate, DARPA sponsored the Urban Challenge, a competition to create fully autonomous vehicles that can operate in urban settings. An extremely important feature of autonomous vehicles, especially in urban locations, is their ability to perceive their environment. The research …
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The role of informal trade markets in household food security and nutrition in Cape Town s food systems value chain
Increasing populations in urban areas increases a household's dependence on bought food. This phenomenon, in turn, makes existing and projected food security issues an urban challenge (Frayne et al, 2009; Battersby, 2011). To this end, fresh produce markets (FPMs) in urban areas enable increased …
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Fusion of Laser Range-Finding and Computer Vision Data for Traffic Detection by Autonomous Vehicles
The DARPA Challenges were created in response to a Congressional and Department of Defense (DoD) mandate that one-third of US operational ground combat vehicles be unmanned by the year 2015. The Urban Challenge is the latest competition that tasks industry, academia, and inventors with designing an …
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Splined Speed Control using SpAM (Speed-based Acceleration Maps) for an Autonomous Ground Vehicle
… Team Victor Tango's entry into the 2007 DARPA Urban Challenge which won 3rd place and a $500,000 prize. The evaluation of the algorithm exposed both strengths and weaknesses that guide the next step in the development of a speed control algorithm.
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Lenses of Connectivity: Adapting the Impact of Urban Highways on American Cities
… collective history, cultural rituals and organic urban fabric of life has been almost completely extinguished in these cities by the false opportunity and instant gratification that comes with so-called 'technological progress.' This, yes this, epitomizes the urban core of a majority of cities …
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Applied Probabilistic Inference: Model Estimation For Hvac Predictive Controls And All-Weather Perception For Autonomous Vehicles
… thermal model parameters and disturbances in buildings and dynamic object classification for perception in autonomous vehicles. Part one of this study proposes a general, scalable method to learn controloriented thermal models of buildings that could enable wide-scale deployment of …
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A delayed response policy for autonomous intersection management
The DARPA Urban Challenge in 2007 showed that fully autonomous vehicles, driven by computers without human intervention on public roads, are technologically feasible with current intelligent vehicle technology [6]. Some researchers predict that within 5-20 years there will be autonomous vehicles …