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Project Papers

From DGC Wiki

This page is intended as a single reference point to any published papers that may be relevant to various aspects of autonomous navigation and the Grand Challenge. Feel free to add to this list, organize it as you see fit, and provide comments regarding the relevance/usefulness/etc. of papers that you have read. --Lars 15:09, 6 Sep 2004 (PDT)

A similar list was compiled for the Sensor Fusion project page; many of these references are not on this page yet. There are also a couple of links on the Planning Index page.

• 2005-06 Conference Deadlines

Contents 1 Literature References 1.1 Grand Challenge 1.2 Team Caltech 1.3 Autonomous Navigation (General) 1.4 Kalman Filters 1.5 State Estimation 1.6 Sensor Fusion 1.7 Terrain Classification 1.8 Mapping 1.9 Simultaneous Localization and Mapping (SLAM) 1.10 Path Generation 1.11 Vehicle Control and Path Following 1.12 Simulation with Player/Gazebo 1.13 Vehicle Dynamics Modeling 1.14 Road Following 1.15 Stereovision Algorithms 1.16 LADAR Hardware and Software 1.17 Visual Odometry 1.18 Contingency Management

Literature References

Grand Challenge

2005 Grand Challenge race rules from DARPA
http://www.darpa.mil/grandchallenge/rules.html

High Speed Navigation of Unrehearsed Terrain: Red Team Technology for Grand Challenge 2004.
C. Urmson, J. Anhalt, M. Clark, T. Galatali, J.P. Gonzalez, J. Gowdy, A. Gutierrez, S. Harbaugh, M. Johnson-Roberson, H. Kato, P.L. Koon, K. Peterson, B.K. Smith, S. Spiker, E. Tryzelaar, and W.L. Whittaker
tech. report TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004.
http://www.ri.cmu.edu/pubs/pub_4696.html
Red Team description of 2004 race approach (a must read). --Lars 18:18, 24 Sep 2004 (PDT)

Navigation Regimes for Off-Road Autonomy
Christopher Urmson (Ph.D. thesis draft), 2004
http://www.ri.cmu.edu/events/oral.2004.24.html

Team Caltech

H. Huang "Lateral Slip Prevention, Detection, and Recovery for High-Speed Autonomous Off-Road Driving". (2005)
Media:Hhuang_thesis.pdf
Haomiao Huang's senior thesis. Discusses planar vehicle dynamics, including model used in ASIM, and detection/prevention of sliding on dirt roads.

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J. Gillula. "A Probabilistic Framework for Real-Time Mapping on an Unmanned Ground Vehicle". Caltech CDS senior thesis, 2006.

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J. Gillula. "Development of Enhanced Algorithms for Vision Based Obstacle Avoidance". (2004)
Media:SURF_Final_Paper.pdf
Jeremy Gillula's SURF paper from working on optimizing and enhancing stereo during the summer of 2004

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J. Gillula. "Color-Based Terrain Classification for an Unmanned Ground Vehicle." (2004)
Media:Gillula_Final_Paper.pdf
Jeremy Gillula's final paper for EE148 (Fall 2004) discussing how to perform terrain classification using color images.

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Lars B. Cremean, Richard M. Murray, "Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing" (Submitted, 2005)
Media:Cremean05model.pdf
Recursive road estimation through feature extraction of road centerline from LADAR scan data.

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Integrated Stereovision for an Autonomous Ground Vehicle Competing in the Darpa Grand Challenge, Marie Goransson and Erik Johannesson, Master's thesis, Lund University, 2005.

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Image:TeamCaltech-2004-DGC-24jun2004.pdf (36 pages, PDF) Technical Report written by Dave van Gogh documenting the Team experience leading up to the March 2004 race.

Autonomous Navigation (General)

Alonzo Kelly, Anthony Stentz, "An Analysis of Requirements for Rough Terrain Autonomous Mobility", 1997
http://citeseer.ist.psu.edu/kelly97analysis.html
A nice, relatively formal overview of system specifications for autonomous navigation. --Lars 15:09, 6 Sep 2004 (PDT) <p>Alonzo Kelly, Anthony Stentz, "Rough Terrain Autonomous Mobility Part 2: An Active Vision, Predictive Control Approach", 1998
http://citeseer.ist.psu.edu/kelly98rough.html
Part 2 to the paper referenced above. --Lars 15:09, 6 Sep 2004 (PDT) <p>Julio Rosenblatt, "Behavior-Based Planning for Intelligent Autonomous Vehicles". In proceedings of IAV'98 Symposium on Intelligent Autonomous Vehicles
http://gc.caltech.edu/doc/papers/Ros98.pdf
Good reference for explaining the arbiter approach (though they didn't include speed considerations in their vote implementation). <p>Rosenblatt, J., "Utility Fusion: Map-Based Planning in a Behavior-Based System", in Field and Service Robotics, pp. 411-418, Springer-Verlag, 1998
At http://www.acfr.usyd.edu.au/people/academic/jrosenblatt/Papers.html
This paper most closely approximates Team Caltech's approach for the 2004 Grand Challenge. <p> S. Lacroix, A. Mallet, D. Bonnafous, G. Bauzil, S. Fleury, M. Herrb and R. Chatila. "Autonomous Rover Navigation on Unknown Terrains: Functions and Integration". In International Journal of Robotics Research (2002)
http://www.laas.fr/~simon/eden/biblio/pages.php?lacroix|ijrr02
http://www.ijrr.org/contents/21_10/abstract/ab031841.html
Media:LACROIX-IJRR-02.pdf
http://gc.caltech.edu/media/movies/video-lama.mp4 (11 MB)
Broad array of considerations for navigation in rough terrain. Also very cool video.

Kalman Filters

• See also Sensor Fusion page references.

State Estimation

<p>Alonzo Kelly, "A 3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles", 1994
http://citeseer.ist.psu.edu/kelly94state.html

Sensor Fusion

• See also Sensor Fusion page references.

Terrain Classification

Brooks, Ignemma, Kart, Dubowsky, "Vibration-based Terrain Analysis for Mobile Robots" ICRA 2005 Terrain_Classification_Vibration.pdf

Mapping

<p>M. Montemerlo and S. Thrun., "A multi-resolution pyramid for outdoor robot terrain perception", Proceedings of the AAAI National Conference on Artificial Intelligence (2004)
http://robots.stanford.edu/papers/Montemerlo04a.html

• See also Sensor Fusion page references.

Simultaneous Localization and Mapping (SLAM)

• 2002 SLAM Summer School: http://www.cas.kth.se/SLAM/
• 2004 SLAM Summer School: http://www.laas.fr/SLAM/
• See SLAM Paper Repository.
• See also Sensor Fusion page references.

Path Generation

Dmitriy L. Kogan, Realtime Path Planning through Optimization Methods
For anybody who's ever asked me how the planner works

Ashish Myles, Jörg Peters, "Threading splines through 3D channels" (2002)
http://citeseer.ist.psu.edu/632846.html
This paper solves for generation of a parametric spline by linear programming techniques in order to stay within a given "channel". This may have direct application to RDDF path generation. --Lars 14:40, 11 Nov 2004 (PST)

Dmitriy L. Kogan Richard M. Murray, "Dynamically Constrained Path Planning through Optimization Methods", submitted to the International Conference on Robotics and Automation 2005.
http://www.cds.caltech.edu/~dkogan/ntgpaper.pdf
This is Dima's paper that describes our planning system as of 9/2004.

Anthony Stentz, "Optimal and Efficient Path Planning for Partially-Known Environments", International Conference on Robotics and Automation 1994.
From http://www.frc.ri.cmu.edu/~axs/doc/icra94.pdf
This is the paper that describes the basic D* algorithm. This algorithm is a spacial-only, discrete planner that can replan efficiently. Fancier versions of the algorithms are described in other papers on A. Stentz's website. NOTE: THE ACTUAL ALGORITHM AS DESCRIBED IN THIS PAPER IS SLIGHTLY WRONG AND WON'T WORK IF IMPLEMENTED AS STATED. Talk to Dima for more info

<p>Zvi Shiller, Yu-Rwei Gwo, "Dynamic Motion Planning of Autonomous Vehicles", IEEE Transactions on Robotics and Automation, 4/1991.
From http://www.yosh.ac.il/shiller/papers/mobile.pdf
This paper describes a planning system similar to the one we had as of 9/2004, but with a more detailed vehicle model. Some nice ideas here. In particular, a way to put an optimal velocity profile onto a spacial path is described. This paper is old, but author has much more recent stuff. See http://www.yosh.ac.il/shiller/publications.htm

D. Coombs, K. Murphy, A. Lacaze, S. Legowik, "Driving Autonomously Offroad up to 35 km/h", Intelligent Vehicles Conference 2000
From http://www.isd.mel.nist.gov/documents/coombs/35kmph.pdf
This paper proposes (and tests in the field) a planner that uses precomputed clothoid curves

<p>Nagy, B., Kelly, A., "Trajectory Generation for Car-Like Robots Using Cubic Curvature Polynomials", Field and Service Robots 2001
From http://www.frc.ri.cmu.edu/~alonzo/pubs/pubs.html
Cubic curvature poynomials are compared favorably as compared to clothoids in this paper. Claims these paths are "relatively difficult" to compute but easy to execute. --Lars 18:37, 6 Sep 2004 (PDT)

<p>Kelly, A., Nagy, B., "Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control", International Journal of Robotics Research, Summer 2002.
From http://www.frc.ri.cmu.edu/~alonzo/pubs/papers/pdf_files/ijrr02.pdf

Yi Guo , Lynne E. Parker , David Jung and Zhaoyang Dong, "Performance-Based Rough Terrain Navigation for Nonholonomic Mobile Robots".
From http://www.cs.ucf.edu/~yguo/paper/IECON03.pdf

Wu, Chen, Woo, "Time Optimal Path Planning for a Wheeled Mobile Robot", Journal of Robotic Systems, 2000.
From http://www3.interscience.wiley.com/cgi-bin/fulltext/73504860/PDFSTART
Proposes a planner based first on a spacial path composed of circle arcs and line segments and then places a velocity profile on it

Vehicle Control and Path Following

Alonzo Kelly, "A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles", 1994
http://citeseer.ist.psu.edu/kelly94feedforward.html

G. Indiveri, "Kinematic time-invariant control of a 2D nonholonomic vehicle", In: Proceedings of the 38th Conference on Decision and Control (CDC'99), Phoenix, AZ, December 1999.
http://citeseer.ist.psu.edu/indiveri99kinematic.html

M. Egerstedt, X. Hu and A. Stotsky, Control of Mobile Platforms Using a Virtual Vehicle Approach, IEEE Trans. Aut. Control vol. 46 no. 11, 2001.
http://ieeexplore.ieee.org/iel5/9/20830/00964690.pdf

Simulation with Player/Gazebo

• "Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator". Nathan Koenig and Andrew Howard, Submitted to International Conference on Intelligent Robots and Systems, 2004.

• "The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems". Brian P. Gerkey, Richard T. Vaughan, and Andrew Howard. In Proceedings of the International Conference on Advanced Robotics (ICAR 2003), pages 317-323, Coimbra, Portugal, June 30 - July 3, 2003.

• "Most Valuable Player: A Robot Device Server for Distributed Control". Brian P. Gerkey, Richard T. Vaughan, Kasper Støy, Andrew Howard, Gaurav S Sukhatme, and Maja J Mataric´. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), pages 1226-1231, Wailea, Hawaii, October 29 - November 3, 2001.

• "On Device Abstractions For Portable, Resuable Robot Code". Richard T. Vaughan, Brian P. Gerkey, and Andrew Howard. To appear in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Las Vegas, Nevada, October 27 - 31, 2003. (Also Technical Report CRES-03-009)

Vehicle Dynamics Modeling

Planning Vehicle Characterization and Simulation: See this page for some more papers and links on vehicle dynamics & simulation

<p>M. Egerstedt, X. Hu, H. Rehbinder, A. Stotsky, "Path Planning and Robust Tracking for A Car-Like Robot" (1997)
http://citeseer.ist.psu.edu/egerstedt97path.html
This paper provides a description on the first page of the basic kinematic equations for a two-wheeled robot and a car-like robot with the vehicle frame at the center of the front axle (bicycle model). --Lars 10:14, 4 Nov 2004 (PST)

<p>Alessandro De Luca, Giuseppe Oriolo, Claude Samson, "Feedback Control Of A Nonholonomic Car-Like Robot" (1997)
http://citeseer.ist.psu.edu/deluca97feedback.html
This paper provides an extensive mathematical analysis of car-like dynamics and kinematics. The bicycle model equations of motion are presented on pp. 13-14, in a few different forms that represent the front- and rear-axle kinematic equations. --Lars 10:44, 4 Nov 2004 (PST)

Road Following

• Rasmussen, C., "Grouping Dominant Orientations for Ill-Structured Road Following" (2004 - final)
• Rasmussen, C., "Combining Laser Range, Color, and Texture Cues for Autonomous Road Following" 2002
• Rasmussen, C., et al, "Road Detection and Tracking for Autonomous Mobile Robots" (>= 2002)
• B. Southall C. J. Taylor "Stochastic road shape estimation" (2001)
• David Lieb, Andrew Lookingbill, Sebastian Thrun, Adaptive Road Following using Self-Supervised Learning and Reverse Optical Flow (2005) Describes Stanford's approach for adaptive image-based road following. --Lars 18:52, 7 Nov 2005 (PST)
• Lars Cremean, Richard Murray, Model-Based Estimation of Off-Highway Road Geometry

using Single-Axis LADAR and Inertial Sensing (2005, PDF) LADAR-based approach that uses inertial sensing to provide sensor registration and global estimate of road centerline geometry

Stereovision Algorithms

<p>Zhengyou Zhang, "A stereovision system for a planetary rover: calibration, correlation, registration, and fusion", Machine Vision and Applications (May 1997)
http://www.springerlink.com/link.asp?id=ah6uk3emjlrgfe2b

• Dickmanns, 2004, "Dynamic Vision-Based Intelligence"
• Dickmanns, 1994, "Design and Control of Camera Platform for Machine Vision"
• Dickmanns, 1994, "The 4-D Approach to Visual Control of Autonomous Systems"
• Dickmanns, 1993, "Two-Axis Camera Platform for Machine Vision"
• Matthies, L., et al, "Image:Isrr.ps" 1995 (postscript file)
• Matthies, L., et al, "Terrain Perception for DEMO III" ( > 1999)
• Matthies, L., et al, "A Portable, Autonomous, Urban Reconnaissance Robot" 2000
• Matthies, L., et al, "Stereo Vision and Rover Navigation Software for Planetary Exploration" 2002
• Matthies, L., et al, "Negative Obstacle Detection by Thermal Signature" ( > 2002)
• Matthies, L., et al, "Detecting Water Hazards for autonomous off-road navigation" ( > 2000)
• Rasmussen, C., "Combining Laser Range, Color, and Texture Cues for Autonomous Road Following" 2002
• Rasmussen, C., "Grouping Dominant Orientations for Ill-Structured Road Following" (2004 - final)
• Rasmussen, C., et al, "Road Detection and Tracking for Autonomous Mobile Robots" ( > 2001)
• Robotic Systems Technology, "Demo III Experimental Unmanned Vehicle (XUV) Program - Autonomous Mobility Requirements Analysis" 1998
• Stentz, A., et al, "A Complete Navigation System for Goal Acquisition in Unknown Environments" 1995
• Lacroix, S., et al, "Autonomous Rover Navigation on Unknown Terrains - Functions and Integration" 2002. Also see link (movies are especially cool)

LADAR Hardware and Software

• Performance Analysis of Next-Generation LADAR for Manufacturing, Construction, and Mobility (PDF, 8.6MB) Stone J., Dagalakis N., Gorman J., Juberts M., Stone W. C. National Institute of Standards and Technology Tech Report.

Visual Odometry

• Visual Odometry on the Mars Exploration Rovers - Yang Cheng and Mark Maimone and Larry Matthies (JPL) - IEEE Systems, Man and Cybernetics Conference, Oct 2005, The Big Island, Hawaii, USA

Contingency Management

• Daniel Dvorak, Robert Rasmussen, Glenn Reeves, Allan Sacks, "Software Architecture Themes in JPL's Mission Data Systems"
• Daniel Dvorak, "Challenging Encapsulation in the Design of High-Risk Control Systems"
• Daniel Dvorak, Robert Rasmussen, Thomas Starbird, "State Knowledge Representation in the Mission Data System"
• Robert Rasmussen, "Goal-Based Fault Tolerance for Space Systems Using the Mission Data System"

Edit this page | Discuss this page | Page history | What links here | Related changes Main Page | About DGC Wiki | Recent changes |   This page has been accessed 1,173 times. This page was last modified 01:57, 14 June 2006 by Richard Murray. Based on work by DGC Wiki user(s) Lars, Jason, Astewart, Haomiao, Klk, Dkogan, Jeremy and Henrik.