A perception-driven autonomous urban vehicle

John J. Leonard, Jonathan P. How, Seth J. Teller, Mitch Berger, Stefan Campbell, Gaston A. Fiore, Luke Fletcher, Emilio Frazzoli, Albert S. Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew R. Walter, David Barrett, Alexander Epstein et al. (8 additional authors not shown)

Abstract: This paper describes the architecture and implementation of an autonomous passenger vehicle designed to navigate using locally perceived information in preference to potentially inaccurate or incompl...