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Part I describes the pre-development phase of "The Rockwell Software Process Training Program" (SPTP) currently under development at Rockwell International Space Transportation Systems Division (STSD), Downey, California. Part II describes the development phase. Part I describes the sequence of events leading to the award of a contract to develop the Rockwell SPTP and gives STSD's perspective...
This article presents a robust approach to navigating at high-speed across desert terrain. A central theme of this approach is the combination of simple ideas and components to build a capable and robust system. A pair of robots were developed which completed a 212 kilometer Grand Challenge desert race in approximately seven hours. A path-centric navigation system uses a combination of LIDAR and RADAR...
Boss is an autonomous vehicle that uses on-board sensors (GPS, lasers, radars, and cameras) to track other vehicles, detect static obstacles and localize itself relative to a road model. A three-layer planning system combines mission, behavioral and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer...
The 2005 DARPA Grand Challenge, a 212-kilometer race through the Mojave Desert, showcased the state of the art in high-speed, autonomous navigation of trails and roads. To win the challenge, a team's robot had to complete the course faster than any other robot, and it had to do so within 10 hours. Carnegie Mellon University's Red Team developed two robots, which used a combination of autonomous and...
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