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

doi:10.1007/978-3-540-73429-1_7

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 proceeding › Chapter › peer-review

1 Scopus citations

Abstract

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 language	English
Title of host publication	DARPA Grand Challenge
Subtitle of host publication	The Race of the Century
Publisher	Springer Verlag
Pages	205-243
Number of pages	39
ISBN (Print)	3540734287, 9783540734284
DOIs	https://doi.org/10.1007/978-3-540-73429-1_7
State	Published - 2007
Externally published	Yes

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	36
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1007/978-3-540-73429-1_7

Cite this

Mason, R., Radford, J., Kumar, D., Walters, R., Fulkerson, B., Jones, E., Caldwell, D., Meltzer, J., Alon, Y., Shashua, A., Hattori, H., Frazzoli, E., & Soatto, S. (2007). The Golem Group/UCLA autonomous ground vehicle in the DARPA Grand Challenge. In DARPA Grand Challenge: The Race of the Century (pp. 205-243). (Springer Tracts in Advanced Robotics; Vol. 36). Springer Verlag. https://doi.org/10.1007/978-3-540-73429-1_7

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

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Mason, R, Radford, J, Kumar, D, Walters, R, Fulkerson, B, Jones, E, Caldwell, D, Meltzer, J, Alon, Y, Shashua, A, Hattori, H, Frazzoli, E & Soatto, S 2007, The Golem Group/UCLA autonomous ground vehicle in the DARPA Grand Challenge. in DARPA Grand Challenge: The Race of the Century. Springer Tracts in Advanced Robotics, vol. 36, Springer Verlag, pp. 205-243. https://doi.org/10.1007/978-3-540-73429-1_7

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AU - Jones, Eagle

AU - Caldwell, David

AU - Meltzer, Jason

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

Abstract

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UN SDGs

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