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dc.contributor.authorFletcher, Luke Sebastian
dc.contributor.authorTeller, Seth
dc.contributor.authorOlson, Edwin B.
dc.contributor.authorMoore, David C.
dc.contributor.authorKuwata, Yoshiaki
dc.contributor.authorHow, Jonathan P.
dc.contributor.authorLeonard, John Joseph
dc.contributor.authorMiller, Isaac
dc.contributor.authorCampbell, Mark
dc.contributor.authorHuttenlocher, Dan
dc.contributor.authorNathan, Aaron
dc.contributor.authorKline, Frank-Robert
dc.date.accessioned2010-11-29T17:38:03Z
dc.date.available2010-11-29T17:38:03Z
dc.date.issued2009-11
dc.identifier.isbn978-3-642-03990-4
dc.identifier.issn1610-7438
dc.identifier.issn1610-742X
dc.identifier.urihttp://hdl.handle.net/1721.1/60040
dc.description.abstractMid-way through the 2007 DARPA Urban Challenge, MIT’s autonomous Land Rover LR3 ‘Talos’ and Team Cornell’s autonomous Chevrolet Tahoe ‘Skynet’ collided in a low-speed accident, one of the first well-documented collisions between two full-size autonomous vehicles. This collaborative study between MIT and Cornell examines the root causes of the collision, which are identified in both teams’ system designs. Systems-level descriptions of both autonomous vehicles are given, and additional detail is provided on sub-systems and algorithms implicated in the collision. A brief summary of robot–robot interactions during the race is presented, followed by an in-depth analysis of both robots’ behaviors leading up to and during the Skynet–Talos collision. Data logs from the vehicles are used to show the gulf between autonomous and human-driven vehicle behavior at low speeds and close proximities. Contributing factors are shown to be: (1) difficulties in sensor data association leading to phantom obstacles and an inability to detect slow moving vehicles, (2) failure to anticipate vehicle intent, and (3) an over emphasis on lane constraints versus vehicle proximity in motion planning. Eye contact between human road users is a crucial communications channel for slow-moving close encounters between vehicles. Inter-vehicle communication may play a similar role for autonomous vehicles; however, there are availability and denial-of-service issues to be addressed.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (DARPA) (Urban Challenge, ARPA Order No. W369/00, Program Code: DIRO)en_US
dc.language.isoen_US
dc.publisherSpringer Berlin / Heidlebergen_US
dc.relation.isversionofhttp://dx.doi.org/10.1007/978-3-642-03991-1_12en_US
dc.rightsAttribution-Noncommercial-Share Alike 3.0 Unporteden_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.titleThe MIT – Cornell Collision and Why It Happeneden_US
dc.typeArticleen_US
dc.identifier.citationFletcher, Luke et al. “The MIT – Cornell Collision and Why It Happened.” The DARPA Urban Challenge. Springer Berlin / Heidelberg, 2009. 509-548.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.approverHow, Jonathan P.
dc.contributor.mitauthorFletcher, Luke Sebastian
dc.contributor.mitauthorTeller, Seth
dc.contributor.mitauthorOlson, Edwin B.
dc.contributor.mitauthorMoore, David C.
dc.contributor.mitauthorKuwata, Yoshiaki
dc.contributor.mitauthorHow, Jonathan P.
dc.contributor.mitauthorLeonard, John Joseph
dc.relation.journalSpringer Tracts in Advanced Robotics : The DARPA Urban Challenge Autonomous Vehicles in City Trafficen_US
dc.eprint.versionAuthor's final manuscript
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsFletcher, Luke; Teller, Seth; Olson, Edwin; Moore, David; Kuwata, Yoshiaki; How, Jonathan; Leonard, John; Miller, Isaac; Campbell, Mark; Huttenlocher, Dan; Nathan, Aaron; Kline, Frank-Roberten
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
dspace.mitauthor.errortrue
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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