© 2007

The 2005 DARPA Grand Challenge

The Great Robot Race

  • Martin Buehler
  • Karl Iagnemma
  • Sanjiv Singh


  • Original papers of all the important participants of the famous DARPA Grand Challenge

  • A “must have” for robotics students and researchers

  • Describes the state of the art in perception, planning and control of robots

  • Colourful book attractive also to laymen


Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 36)

Table of contents

  1. Front Matter
    Pages I-XLI
  2. Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel et al.
    Pages 1-43
  3. Chris Urmson, Joshua Anhalt, Daniel Bartz, Michael Clark, Tugrul Galatali, Alexander Gutierrez et al.
    Pages 45-102
  4. Paul G. Trepagnier, Jorge Nagel, Powell M. Kinney, Cris Koutsougeras, Matthew Dooner
    Pages 103-128
  5. Deborah Braid, Alberto Broggi, Gary Schmiedel
    Pages 129-153
  6. Brett M. Leedy, Joseph S. Putney, Cheryl Bauman, Stephen Cacciola, J. Michael Webster, Charles F. Reinholtz
    Pages 155-182
  7. Richard Mason, Jim Radford, Deepak Kumar, Robert Walters, Brian Fulkerson, Eagle Jones et al.
    Pages 205-243
  8. Arun Lakhotia, Suresh Golconda, Anthony Maida, Pablo Mejia, Amit Puntambeker, Guna Seetharaman et al.
    Pages 245-280
  9. Robert Daily, William Travis, David M. Bevly, Kevin Knoedler, Reinhold Behringer, Hannes Hemetsberger et al.
    Pages 281-309
  10. Carl D. Crane III, David G. Armstrong II, Robert Touchton, Tom Galluzzo, Sanjay Solanki, Jaesang Lee et al.
    Pages 311-347
  11. Anand R. Atreya, Bryan C. Cattle, Brendan M. Collins, Benjamin Essenburg, Gordon H. Franken, Andrew M. Saxe et al.
    Pages 349-361
  12. Isaac Miller, Sergei Lupashin, Noah Zych, Pete Moran, Brian Schimpf, Aaron Nathan et al.
    Pages 363-405
  13. Isaac Miller, Mark Campbell
    Pages 407-436
  14. Lars B. Cremean, Tully B. Foote, Jeremy H. Gillula, George H. Hines, Dmitriy Kogan, Kristopher L. Kriechbaum et al.
    Pages 437-482
  15. Robert Grabowski, Richard Weatherly, Robert Bolling, David Seidel, Michael Shadid, Ann Jones
    Pages 483-516
  16. Back Matter
    Pages 517-520

About this book


At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field. The volume edited by Martin Buehler, Karl Iagnemma and Sanjiv Singh presents a unique and extensive collection of the scientific results by the teams which took part into the DARPA Grand Challenge in October 2005 in the Nevada desert. This event reached an incredible peak of popularity in the media, the race of the century like someone called it! The Grand Challenge demonstrated the fast growing progress - ward the development of robotics technology, as it showed the feasibility of using mobile robots operating autonomously in real world scenarios.


DARPA Grand Challenge Navigation Real World Robot Application Robotic system for outdoor /indoor works algorithms autonomous robot autonomous robotics control mobile robot perception robot robotics service robot service robotics system

Editors and affiliations

  • Martin Buehler
    • 1
  • Karl Iagnemma
    • 2
  • Sanjiv Singh
    • 3
  1. 1.Boston DynamicsCambridgeUSA
  2. 2.Department of Mechanical EngineeringMassachusetts Institute of TechnologyCambridgeUSA
  3. 3.Robotics InstituteCarnegie Mellon UniversityPittsburghUSA

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