Abstract: This talk will describe Team MIT’s performance in the 2007 DARPA Urban Challenge (DUC), which was held from October 26 though November 3rd in Victorville, CA. MIT was one of thirty five teams that participated in the DUC national qualifying event (NQE), and was one of eleven teams to qualify for the Urban Challenge final event based on our performance in NQE. Our team was one of six teams to complete the race, finishing in fourth place. We will review the design of our autonomous vehicle, Talos, a Land Rover LR3 equipped with a diverse range of lidar, vision, radar, and navigation sensors connected to a powerful blade cluster computer system. Our vehicle employed novel algorithmic approaches to perception, planning and control for the challenging task of autonomous driving in uncertain, dynamic environments. The performance of our system in the NQE and race events will be reviewed, and ideas for future research will be discussed. For more information, see http://grandchallenge.mit.edu
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