Unmanned vehicles come of age: The DARPA grand challenge

Seetharaman, Guna; Lakhotia, Arun; Blasch, Erik

doi:10.1109/mc.2006.447

Cited by 104 publications

(51 citation statements)

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“…A concrete application could be the DARPA Grand Challenge contest [3]. Each UV is provided with an autonomous control software system (ACS) to drive the vehicle from start to destination along the road network.…”

Section: Illustrative Casementioning

confidence: 99%

Software Engineering for Self-Adaptive Systems: A Research Roadmap

Cheng¹,

Lemos²,

Giese³

et al. 2009

Software Engineering for Self-Adaptive Systems

768

535

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Abstract. The goal of this roadmap paper is to summarize the state-ofthe-art and to identify critical challenges for the systematic software engineering of self-adaptive systems. The paper is partitioned into four parts, one for each of the identified essential views of self-adaptation: modelling dimensions, requirements, engineering, and assurances. For each view, we present the state-of-the-art and the challenges that our community must address. This roadmap paper is a result of the Dagstuhl Seminar 08031 on "Software Engineering for Self-Adaptive Systems, " which took place in January 2008.

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Section: Illustrative Casementioning

confidence: 99%

Software Engineering for Self-Adaptive Systems: A Research Roadmap

Cheng¹,

Lemos²,

Giese³

et al. 2009

Software Engineering for Self-Adaptive Systems

768

535

View full text Add to dashboard Cite

show abstract

“…In brief, the Urban Challenge aimed to bring autonomous ground vehicles to the city streets, while following traffic laws as defined in the California Driver's Handbook. A full description of the race is provided at DARPA's website, http://www.grandchallenge.mil/grandchallenge, though for archival purposes the reader may refer to [14].…”

Section: The Darpa Urban Challengementioning

confidence: 99%

Model-based design: a report from the trenches of the DARPA Urban Challenge

et al. 2009

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The impact of model-based design on the software engineering community is impressive, and recent research in model transformations, and elegant behavioral specifications of systems has the potential to revolutionize the way in which systems are designed. Such techniques aim to raise the level of abstraction at which systems are specified, to remove the burden of producing applicationspecific programs with general-purpose programming. For complex real-time systems, however, the impact of modeldriven approaches is not nearly so widespread. In this paper, we present a perspective of model-based design researchers who joined with software experts in robotics to enter the DARPA Urban Challenge, and to what extent modelbased design techniques were used. Further, we speculate on why, according to our experience and the testimonies of many teams, the full promises of model-based design were not widely realized for the competition. Finally, we

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“…(2) Assuming a constant v(x) within the neighborhood Ω(x, y) and differentiating e ls (x) to find the minimum, leads to the standard eigenvalue problem (Eq. 3) for solving v(x) the best estimate of v(x), (3) The 3D structure tensor matrix J(x, W) for the spatiotemporal volume centered at x can be written in expanded matrix form, without the spatial filter W(x, y) and the positional terms shown for clarity, as Eq. 4.…”

Section: A 3d Structure Tensorsmentioning

confidence: 99%

“…Most of the autonomous vehicles competing in the recent DARPA Grand Challenge events used one or more lidar sensors to augment the video imagery, demonstrating intelligent navigation using fusion of multiple information sources [3]. Autonomous navigation in city traffic with weather, signals, vehicles, pedestrians, and construction will be more challenging.…”

Section: Introductionmentioning

confidence: 99%

Flux Tensor Constrained Geodesic Active Contours with Sensor Fusion for Persistent Object Tracking

Bunyak

Palaniappan²,

Nath³

et al. 2007

JMM

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This paper makes new contributions in motion detection, object segmentation and trajectory estimation to create a successful object tracking system. A new efficient motion detection algorithm referred to as the flux tensor is used to detect moving objects in infrared video without requiring background modeling or contour extraction. The flux tensor-based motion detector when applied to infrared video is more accurate than thresholding "hot-spots", and is insensitive to shadows as well as illumination changes in the visible channel. In real world monitoring tasks fusing scene information from multiple sensors and sources is a useful core mechanism to deal with complex scenes, lighting conditions and environmental variables. The object segmentation algorithm uses level set-based geodesic active contour evolution that incorporates the fusion of visible color and infrared edge informations in a novel manner. Touching or overlapping objects are further refined during the segmentation process using an appropriate shape-based model. Multiple object tracking using correspondence graphs is extended to handle groups of objects and occlusion events by Kalman filter-based cluster trajectory analysis and watershed segmentation. The proposed object tracking algorithm was successfully tested on several difficult outdoor multispectral videos from stationary sensors and is not confounded by shadows or illumination variations.

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Unmanned vehicles come of age: The DARPA grand challenge

Cited by 104 publications

References 0 publications

Software Engineering for Self-Adaptive Systems: A Research Roadmap

Software Engineering for Self-Adaptive Systems: A Research Roadmap

Model-based design: a report from the trenches of the DARPA Urban Challenge

Flux Tensor Constrained Geodesic Active Contours with Sensor Fusion for Persistent Object Tracking

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