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The International Journal of Robotics Research
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Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments

Alonzo Kelly

The Robotics Institute, Carnegie Mellon University, alonzo{at}ri.cmu.edu

Anthony Stentz

The Robotics Institute, Carnegie Mellon University

Omead Amidi

The Robotics Institute, Carnegie Mellon University

Mike Bode

The Robotics Institute, Carnegie Mellon University

David Bradley

The Robotics Institute, Carnegie Mellon University

Antonio Diaz-Calderon

The Robotics Institute, Carnegie Mellon University

Mike Happold

The Robotics Institute, Carnegie Mellon University

Herman Herman

The Robotics Institute, Carnegie Mellon University

Robert Mandelbaum

Sarnoff Corporation, Princeton, NJ, rmandelbaum{at}sarnoff.com

Tom Pilarski

The Robotics Institute, Carnegie Mellon University

Pete Rander

The Robotics Institute, Carnegie Mellon University

Scott Thayer

The Robotics Institute, Carnegie Mellon University

Nick Vallidis

The Robotics Institute, Carnegie Mellon University

Randy Warner

The Robotics Institute, Carnegie Mellon University

The DARPA PerceptOR program has implemented a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles were deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications bandwidth. Our efforts over the three year program have produced new approaches in planning, perception, localization, and control which have been driven by the quest for reliable operation in challenging environments. This paper focuses on some of the most unique aspects of the systems developed by the CMU PerceptOR team, the lessons learned during the effort, and the most immediate challenges that remain to be addressed.

Key Words: autonomous mobility • mobile robot • unmanned ground vehicle • UGV • UAV • obstacle avoidance • motion planning • ladar • stereo

The International Journal of Robotics Research, Vol. 25, No. 5-6, 449-483 (2006)
DOI: 10.1177/0278364906065543
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