The Golem Group/University of California at Los Angeles 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: Contribution to journalReview articlepeer-review

8 Scopus citations

Abstract

This paper presents the Golem Group/University of California at Los Angeles 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 vehicle performance in the field is provided, including successes together with an analysis of the reasons leading to failures.

Original languageAmerican English
Pages (from-to)527-553
Number of pages27
JournalJournal of Field Robotics
Volume23
Issue number8
DOIs
StatePublished - Aug 2006
Externally publishedYes

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