Abstract
This paper presents the Golem Group/UCLA entry to the 2005 DARPA Grand Challenge competition. We describe the main design principles behind the development of Golem 2, the race vehicle. The subsystems devoted to obstacle detection, avoidance, and state estimation are discussed in more detail. An overview of the vehicle performance in the field is provided, including successes together with an analysis of the reasons leading to failures.
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© 2007 Springer-Verlag Berlin Heidelberg
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Mason, R. et al. (2007). The Golem Group / UCLA Autonomous Ground Vehicle in the DARPA Grand Challenge. In: Buehler, M., Iagnemma, K., Singh, S. (eds) The 2005 DARPA Grand Challenge. Springer Tracts in Advanced Robotics, vol 36. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73429-1_7
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DOI: https://doi.org/10.1007/978-3-540-73429-1_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73428-4
Online ISBN: 978-3-540-73429-1
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