The Golem Group/UCLA autonomous ground vehicle in the DARPA Grand Challenge

Richard Mason*, Jim Radford, Deepak Kumar, Robert Walters, Brian Fulkerson, Eagle Jones, David Caldwell, Jason Meltzer, Yaniv Alon, Amnon Shashua, Hiroshi Hattori, Emilio Frazzoli, Stefano Soatto

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

1 Scopus citations


This paper presents the Golem Group/UCLA entry to the 2005 DARPA Grand Challenge competition. We describe the main design principles behind the development of Golem 2, the race vehicle. The subsystems devoted to obstacle detection, avoidance, and state estimation are discussed in more detail. An overview of the vehicle performance in the field is provided, including successes together with an analysis of the reasons leading to failures.

Original languageAmerican English
Title of host publicationDARPA Grand Challenge
Subtitle of host publicationThe Race of the Century
PublisherSpringer Verlag
Number of pages39
ISBN (Print)3540734287, 9783540734284
StatePublished - 2007
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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